In this paper, we study the consensus problem of multiple Euler-Lagrange systems subject to limited communication resources and parametric uncertainties. Firstly, an event-triggered communication scheme is proposed to achieve the leaderless consensus problem. With the proposed event-triggered mechanism, the state of each subsystem is transmitted at event instants which are aperiodic and asynchronous with respect to other subsystems. Secondly, we consider the time-delay effects in communication. The consensus analysis of the proposed scheme is based on the small-gain framework. Finally simulation results on a network of robot manipulators are given to illustrate the effectiveness of the proposed control scheme.