iER3-400-SR SCARA Robotic Arm (Manipulator)
SCARA Robotics · Load capacity 3kg · Reach: 400mm
iER3-400-SR specifications
iER3-400-SR SCARA robot, 3kg payload, 400mm reach, 4-axis robot.
Model introduction
iER3-400-SR SCARA Robot · Load capacity 3kg · Reach 400mm · 4-axis · Protection rating IP20. Estun's full-stack self-developed core components ensure stable and reliable performance.
iER SCARA Series Robots · Series technical features
3-50kg · High-speed, high-precision · 3C electronics are the first choice
Load range from 3 to 50 kg, with a reach of 400 to 1200 mm, covering all scenarios from light load assembly to heavy load handling.
Repeatability reaches ±0.02mm for J1+J2 and 0.01mm for J3 ±, meeting the needs of precision electronic assembly.
-C suffix clean models meet ISO Class 4 cleanliness level, suitable for the semiconductor and panel industries.
Optimized kinematic algorithms and rigid structure, industry-leading standard cycle time.
Typical application scenarios
Common application processes for this model (click to view process details):
iER SCARA Series Robots · Other models in the same series
Compare load and reach to choose the model that best suits your process.
iER3-400-SR model positioning and working condition adaptation
iER3-400-SR The SCARA horizontal multi-joint robot model, part of the Estun iER SCARA series, has a rated load of 3kg, a motion radius of 400mm, and a repeatability of ±0.02mm. Estun's technical foundation is that of the top domestic brand, with self-developed core motion control technology, and after acquiring Germany's Cloos, its welding process capabilities have leapt forward; The control platform is the Estun Controller (self-developed movement control platform), and the program ecosystem consists of graphical programming + instruction scripting.
From the perspective of working condition adaptation, typical applications for small load (3kg) positioning are:High-speed sorting, precision assembly, dispensing coating, and inspection/pick-and-place processingCommon application processes for this model include precision assembly, screw tightening, dispensing, inspection, handling, and loading and unloading. The short arm (400mm) model has a compact structure, suitable for dense workstations and close-range pick-and-place operations, with a small work unit footprint. ± 0.02mm repeatability is the standard level for six-axis industrial robots, covering the vast majority of welding operations, handling, palletizing, and loading and unloading operations. Although the load is light, it is recommended to keep the total weight of the end and workpiece within 70% of the rated value, leaving ample acceleration margin at high speeds.
| Parameters | Engineering interpretation and usage recommendations |
|---|---|
| Rated load 3kg | It is recommended to reserve a load margin of 20%–30%; Verification is made by combining end self-weight + workpiece + imbalanced load inertia, especially sensitive to high-speed conditions |
| Movement radius: 400mm | Determine the radius of the workcell layout: bins, tooling, and fences are bounded by maximum arm span + safety distance; Verify the accessibility of each pick-and-place point during cross-station service |
| Repeatability: ±0.02mm | Repeatability ≠ absolute accuracy: Precision assembly requires external measurement closed-loop or visual guidance; Long-term accuracy trends rely on annual retest management |
| Number of axes: 4 | The four-axis structure has a clear speed advantage within the horizontal plane, while Z-direction travel and attitude freedom are limited, making it suitable for flat sorting and assembly |
| Protection rating: IP20 | Suitable for standard workshop environments; Dusty and moisture-prone workstations require additional protective kits or positive pressure protection |
| Controller: Estun Controller (self-developed platform for motion control) | Decide on the process ecosystem, spare parts channels, and second-hand residual value; Currently, spare parts channels are smooth, and repair and upgrade paths are mature |
| Rated load capacity: 3kg | Source: official ESTUN product page |
| Body weight: 13kg | Source: official ESTUN product page |
Control systems and common failure modes
The iER3-400-SR comes with the Estun controller (self-developed motion control platform) controller, with a programming language and development environment of graphical programming + instruction scripting. Maintenance of this generation of control platforms focuses on three basic components: power, storage, and cooling—most "sudden downtime" can be detected in advance when preventive maintenance is in place.
| Failure mode | Typical performance | Disposal recommendations |
|---|---|---|
| Driver overcurrent/overload alarm | Driver overcurrent/overload alarm | Included as a mandatory inspection item for annual maintenance, with spare parts stocked in advance |
| Encoder feedback anomalies and cable interference | Encoder feedback anomalies and cable interference | Initial interpretation of alarm codes by reference with manuals, remote diagnosis allows for early positioning |
| The teach pendant system is lagging or crashing | Teach Pendant System Freezes or Crashes (Regular Restarts and Image Recovery) | Daily inspection coverage, with abnormal trends (abnormal noises/temperature rise/errors) recorded |
| IO module communication failure | IO module communication failure | Quarterly dust removal maintenance and cabinet temperature monitoring |
| Maintenance projects | Cycle recommendations | Key points |
|---|---|---|
| Regular backup of parameters and programs (dual USB drive + cloud storage) | Periodically | Regular backup of parameters and programs (dual USB drive + cloud storage) |
| Batteries should be replaced periodically | By cycle | Batteries should be replaced periodically |
| Reducer lubrication is managed by operating hours | By operating hours | Reducer lubrication is managed by operating hours |
| Cable and drag chain inspection | every six months | Insulation, shielding, and bending radius inspection of power and encoder lines, as well as wear of cables inside the drag chain, are the main causes of intermittent faults |
| Zero point and accuracy retest | Every year | Repeatability measured by dial gauges or laser trackers, drift trend digitization—accuracy degradation can be seen six months in advance |
| Control cabinet dust removal and fans | Every quarter | Filter cleaning, fan speed and noise checks, cabinet temperature recording; Dust environments shorten the cycle |
Henghuan's service capabilities for the iER3-400-SR
This site is a third-party robotics technology service provider. The eight major business supports related to the iER3-400-SR are as follows (sorted by service frequency for each model):
- Maintenance and repair: For on-site diagnostics, board-level repairs, and annual maintenance contracts for iER3-400-SR—regular parameter and program backups (dual USB drives + cloud storage), we follow SOPs and respond to Sichuan-Chongqing on the same day.
- Used & in-stock robot sales: Low second-hand prices and increasing circulation, suitable for budget-sensitive handling and palletizing tasks; Perform comprehensive inspections before procurement; In the iER3-400-SR or equivalent models, a comprehensive test report and a 12-month warranty are included.
- Sales of new industrial robots: When adding new production lines or replacing batches, we conduct cross-brand selection comparisons based on process requirements (including models of the same class as Estun), and provide configuration and pricing plans.
- Applied technology services: Process programming, trajectory optimization, tap time potential, and model change formula management for the iER3-400-SR, with targeted commissioning according to precision assembly, screw tightening, dispensing, inspection, handling, and loading/unloading conditions.
- Research and development of automation equipment: Custom clamp ends, peripheral tooling, and safety fences for iER3-400-SR, with interfaces designed according to Estun flange and IO standards.
- Robot rental: For short-term capacity or process validation periods, iER3-400-SR equivalent models in inventory can be rented, including transportation, installation, and commissioning; flexible rental periods can be upgraded for transfer.
Common issues with this device
Is it easy to find spare parts for the iER3-400-SR?
Estun: Spare parts channels for this generation are smooth; we have in-stock or short-cycle channels for standard parts such as drivers, power modules, batteries, and teach pendant components; Parameters and programs are regularly backed up (USB drive + cloud dual copies). It is recommended to configure consumables according to the annual maintenance contract.
With a rated load of 3kg, how much weight can it actually handle?
The rated load is the static load limit of the flange surface. In actual selection, three factors must be considered: the self-weight of the end fixture (vacuum suction cup groups or grippers often account for 2–5kg), the inertia generated by the workpiece offload (checked according to the inertia ratio when the center of gravity deviates from the flange center), and the dynamic load during high-speed movement. The conventional engineering practice is to keep the "end + workpiece" within 70%–80% of the rated value to ensure cycle time and service life.
If the equipment's accuracy deteriorates after several years of use, how can it be restored?
According to the inspection order: first check whether the zero point is drifting (common after collision or battery depletion), then perform zero calibration; Check the reducer's return error (actual measurement of forward and reverse positioning deviation; if exceeded, disassemble or replace); Then check the installation base fastening and foundation settlement; Finally, trajectory compensation parameter restructuring. Most accuracy issues can be mostly restored after calibration and maintenance, so there is no need to rush into major repairs—we first release the inspection data before deciding on the plan.
Is the used iER3-400-SR worth buying?
Second-hand prices are low and circulation is increasing, suitable for budget-sensitive handling and palletizing tasks; Perform comprehensive inspections before purchasing. Three essential items for second-hand procurement: comprehensive inspection reports (axial accuracy, driver status, insulation and battery), maintenance history and operating hours, controller generation, and software license integrity. Every used machine we sell comes with inspection records and a 12-month warranty, and we can also accept third-party inspections designated by customers.
Need technical support or procurement for this model?
Whether it's model selection comparison, installation and commissioning, or maintenance of in-use equipment, you can contact Henghuan. Tell us about your processes, loads, and equipment status, and we will provide third-party technical support and solution recommendations.
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