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Migatronic automation CoWelder UR10E PI350 AC/DC, Инструкция по эксплуатации

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Navn CoWelder™ 
Produkt UR10E-PI350 
Version 

A – 1.5.2021 

Udfærdiget af: 

CTM 

 

 

 

1 

Instruction Handbook  

Translated from original 

 
 

Name 

CoWelder™ 

 
Model/type

  

CoWelder UR10E PI350 AC/DC  

 

CoWelder UR10E PI350 AC/DC + CWF Multi

 

 
 
 

Function

 

Collaborative welding robot  

 

 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Keep this operating manual at the 

operator's workstation! 

 

 

Содержание automation CoWelder UR10E PI350 AC/DC

Страница 1: ...1 Udf rdiget af CTM 1 Instruction Handbook Translated from original Name CoWelder Model type CoWelder UR10E PI350 AC DC CoWelder UR10E PI350 AC DC CWF Multi Function Collaborative welding robot Keep t...

Страница 2: ...displayed on the Machine 11 2 15 Personal Safety 12 2 15 1 Protective Equipment 12 2 15 2 Precautionary Measures 12 2 16 Emergency situations 12 2 17 Safety and Protective Equipment 13 2 18 The Positi...

Страница 3: ...ng and Maintenance 68 7 1 Cleaning 68 7 1 1 Teach Pendant 68 7 1 2 Control Box 68 7 1 3 Machine Parts 69 7 1 4 Painted Surfaces 69 7 1 5 Aluminium Surfaces 69 7 1 6 Other Parts and Surfaces 69 7 2 Mai...

Страница 4: ...ons carrying out service maintenance or repair of the machine read the user guide or at the minimum the sections relevant to their tasks The employer shall also provide sufficient training of staff in...

Страница 5: ...00 mm Rack with CWF Multi Measurement 750 x 300 x 1250 mm PI 350 AC DC Measurement 980 x 545 x 1090 mm UR10E Robot incl mount and suspension Weight 125 kg Rack with CWF Multi Weight 20 kg PI 350 AC DC...

Страница 6: ...uation that may cause serious physical injury or death NOTE Possible hazardous situation that may cause minor physical injury or damage to equipment INFORMATION Useful hints and information IMPORTANT...

Страница 7: ...liance with all inspection and maintenance requirements Use of original spare parts only Only specially trained staff must carry out transport commissioning disposal troubleshooting and repair Trained...

Страница 8: ...he following maximum values must be kept as low as possible Force Max110N and 140N cm Power Max 80 W Speed Max 400 mm s Momentum 8 kg m s WARNING Programming and correct setting of the CoWelder s TCP...

Страница 9: ...guide IMPORTANT The user guide shall be kept at the operator s workplace and be easily accessible for operators and maintenance staff Other special attention points Compliance with accident prevention...

Страница 10: ...receive training in risks and required precautions The following residual risks apply Warning Risk of burns Touching and using the welding torch may cause burns Use of protective gloves and clothes is...

Страница 11: ...of electric shock and a risk of interference damage to electronic circuit It is important that the robot and the welding machine have a correct and effective earth connection and that the earth connec...

Страница 12: ...ng helmet to protect the eyes against radiation from infrared visible and ultra violet light 2 15 2 Precautionary Measures NOTE Tie up or cover long hair and do not wear ties jewellery and loose cloth...

Страница 13: ...ower supply Important Use the machine only when all protective equipment is present and in working condition 2 18 The Positioning of Emergency Stops 2 18 1 Emergency Stops Emergency stops 1 and 2 disc...

Страница 14: ...ded for lifting must not have lifting points WARNING Protect your back and other parts of your body when lifting the equipment Use correct lifting equipment Observe all relevant lifting instructions W...

Страница 15: ...ea if necessary 2 20 3 Transporting the Machine Lifting points as shown in the figure must be used when lifting the welding machine Do not lift the machine in the handle Do not lift the welding machin...

Страница 16: ...ibility at all times An incorrectly set TCP will adversely affect the welding performance and does not guarantee the functionality of the virtual safety setting WARNING 4 virtual fencings limit the th...

Страница 17: ...tion Press TCP under general Select TCP_1 og press Set as default Press Wizard Press Set point 1 Use the Freedrive button arrows or Teach button at the back of the screen to point the tip of the wire...

Страница 18: ...get af CTM 18 Press Set point 2 Use the Freedrive button arrows or Teach button at the back of the screen to point the tip of the wire precisely on a selected fixed point See picture When the robot is...

Страница 19: ...A 1 5 2021 Udf rdiget af CTM 19 Use the Freedrive button arrows or Teach button at the back of the screen to point the tip of the wire precisely on a selected fixed point See picture When the robot is...

Страница 20: ...rdiget af CTM 20 Press Set point 4 Use the Freedrive button arrows or Teach button at the back of the screen to point the tip of the wire precisely on a selected fixed point See picture When the robo...

Страница 21: ...oWelder Produkt UR10E PI350 Version A 1 5 2021 Udf rdiget af CTM 21 Information If you can t find the text use the scroll bar to scroll down to the bottom Press Save followed by Save All and then pres...

Страница 22: ...ress Wizard under Orientation Select Base in the menu Press Set point Robot connector Move the robot approximately to the same position as shown on the picture The following is important The torch mou...

Страница 23: ...on A 1 5 2021 Udf rdiget af CTM 23 Check the alignment of the torch vertically See pictures below use a spirit level Move the robot s axis until you have the same results as in the pictures When the r...

Страница 24: ...1 3 Test TCP settings Restart the robot Press Move Select Tool under Feature Move the robot manually the tip of the wire must point to a fixed point Now use these arrows to move the robot If the setti...

Страница 25: ...2 Is done correctly and TOOL is selected Then the torch should move in the same direction as the arrows show on the screen By changing the CoWelder s TCP the incorporated safety systems will prevent...

Страница 26: ...strongly recommend you to back up all programmes of robot and welding machine Migatronic Automation cannot be held responsible for any loss of data that may occur whatever the cause Press Program Sele...

Страница 27: ...avn CoWelder Produkt UR10E PI350 Version A 1 5 2021 Udf rdiget af CTM 27 ablona obsahuje ve ker prvky nutn k dokon en sva ovac ho programu Vypl te lut zv razn n body Zelen zv razn n body z stanou zele...

Страница 28: ...Navn CoWelder Produkt UR10E PI350 Version A 1 5 2021 Udf rdiget af CTM 28 Mark the first unfinished waypoint Mark Command Press Set Waypoint...

Страница 29: ...st position and angle Press OK after manual adjustment The waypoint will change from yellow to grey Repeat the procedure until all yellow waypoints have turned green You can now test the program Test...

Страница 30: ...play button Press Play from beginning Press and hold Move robot to to move the robot into its start position Note Keep an eye on the robot there is a risk of collision Press the Play from button Turn...

Страница 31: ...LDING HELMET The arc emits radiation which is harmful to the human eye Even short term radiation may cause permanent injury Use safety glasses in the welding helmet to protect the eyes against radiati...

Страница 32: ...creased with increasing current Synergic Fast Pulsation is turned OFF with the Pulse_Off Sub Program Wire_On Turn s ON wire feeding Wire feeding must also be enabled in the welding machine s active pr...

Страница 33: ...Macro call WIRE_OFF Turn s OFF wire feeding WIRE_ON Turn s ON wire feeding Wire feeding must also be enabled in the welding machine s active program This is done in the menu on the welding machine whe...

Страница 34: ...d Basis Software Press the program tab press URCaps When you press MigaWeld an entire application tree is generated on the screen 3 4 1 MigaWeld Program tree When the URCap is inserted into the progra...

Страница 35: ...rt from physical start button Start from Allows you to start the program from a desired welding workpiece Ad new Weld item By pressing a new weld item is added at the bottom of the program tree Select...

Страница 36: ...on Description Set speed slider to 100 When this function is switched on the speed slider is always set to 100 If the speedslider is not set to 100 the desired speeds for the robot movements cannot be...

Страница 37: ...Slow pulse Fast pulse Fast pulse Fast pulse synergic Fast pulse synergic Wire Settings Set pulse selection for welding wire in the welding machine Wire off No wire wire is deselected Wire pulse Pulse...

Страница 38: ...eams consists of air points before and after welding switching on the arc switching off the arc and welding movements Tack Option Inserts a tack welding function in the program Select Weld seam Functi...

Страница 39: ...Joint acc Joint acc Blend Transition radius Enable jump point If the field is checked and Start from in the MigaWeld menu is set to this weld item this function is activated This function inserts an a...

Страница 40: ...40 Select another AirPoint Function Description Move Type Movement type choose between joints or linear movement Joint speed Joint speed Joint acc Joint acceleration Blend Transition radius Move to A...

Страница 41: ...CTM 41 Select Arc On Function Description Arc wait time Waiting time between arc detected until the robot begins its movement Select Paths Function Description Add new linear path Add new linear weldi...

Страница 42: ...ath Add new linear welding path Add new circular path Add new circular welding path Select Circular Function Description Set Via Point Set via point on the circular movement Move to Via Point Move the...

Страница 43: ...hecked the default parameters for the weld item is used If the field is not checked you can manually set the desired parameters for each path Travel speed Indicates the speed in mm s Advanced Advanced...

Страница 44: ...ctive on your robot This icon means that the USB key is either missing or not connected to the robot This icon means that the USB key inserted in the robot matches a robot with a different serial numb...

Страница 45: ...peed in mm s Frequency Frequency is the number of periods per second Hz Amplitude Amplitude defines the height of the outer position in the respective pendulum period mm Dwell left Defines the time sp...

Страница 46: ...item you have selected will be created On the new welditem there is also a button called offset Press it to enter the offset settings Here you now have two options for offsetting the item Function Des...

Страница 47: ...move the item based on the required parameters Cancel If you press Cancel you will return to the welding workpiece node WeldItem 3 7 Miga Tack Option Function Description Travel speed Air speed Air sp...

Страница 48: ...iga Smart Tool Home position and WeldParameters Function Description Home position Programmed as usual see the description under MigaWeld for more information WeldParameters Programmed as usual see th...

Страница 49: ...oWelder Produkt UR10E PI350 Version A 1 5 2021 Udf rdiget af CTM 49 Path menu Function Description Paths In this screen only linear and circular welding points can be programmed Weave pattern None or...

Страница 50: ...First press Generates the first point in a circular motion and the LED light starts flashing quickly this tells the user that the end point of the circular motion is ready to be programmed Second pre...

Страница 51: ...rdiget af CTM 51 3 9 Delete Update Migatronic software on the CoWelder Important URCaps can only be used from version 5 4 e series 3 10 Update Robot software Turn on the robot wait until the boot seq...

Страница 52: ...t the software version Follow the update guideline on the webpage and on the robot screen Software updates before V 5 5 1 must be done in steps for minor releases i e 5 3 5 4 5 5 etc Software updates...

Страница 53: ...d usb urmagic_backup_programs urmagic_configuration_files and urmagic_log_files copy them to the same USB that contains the robot software Insert USB with robot software and back up files magic files...

Страница 54: ...50 Version A 1 5 2021 Udf rdiget af CTM 54 3 10 2 Delete Migatronic Software on the CoWelder Turn on the robot wait until the boot sequence has finished Open the controller cabinet Remove the green US...

Страница 55: ...er Produkt UR10E PI350 Version A 1 5 2021 Udf rdiget af CTM 55 Press Hamburger menu Select System press URCaps Mark each line in this box and press the MINUS button Continue until the box is empty Pre...

Страница 56: ...from Migatronic with a zip file attached Unzip this file Insert your green license USB drive in the pc Copy the files on the USB drive to a folder on the pc just for safety Delete all the files from t...

Страница 57: ...elder Produkt UR10E PI350 Version A 1 5 2021 Udf rdiget af CTM 57 Wait until the robot boot sequence has finished Insert the green license key in a free USB slot in the controller cabinet Press Hambur...

Страница 58: ...21 Udf rdiget af CTM 58 Select System press URCaps Press the PLUS button Select usbdisk directory Highlight the first file Press Open Repeat the steps on this page until all files are installed Later...

Страница 59: ...t af CTM 59 When all files are installed correctly the contents of the window look like this Select System press URCaps Press Restart Wait until the robot boot sequence has finished go to the settings...

Страница 60: ...chapter provides operators with a complete overview of the structure and functions of the machine 4 1 Machine Structure 1 UR10E robot 2 PI350 Welding machine 3 Teach pendant 4 Robot controller 5 Gall...

Страница 61: ...n a level and stable base Adjust and level up table mount and torch suspension to ensure a stable base for the machine IMPORTANT There must be a minimum of 500 mm free area between the robot s operati...

Страница 62: ...e of the welding table to facilitate its working range Use approved lifting hooks in the eyebolts and make sure that they cannot damage the robot Secure the robot to the welding table and remove the e...

Страница 63: ...021 Udf rdiget af CTM 63 Connect welding machine and robot interface using the cable Connect the welding hose to the welding machine Connect the machine to the power supply Connect the gas hose to a g...

Страница 64: ...1 5 2021 Udf rdiget af CTM 64 Switch on the robot on the teach pendant Switch on the welding machine lead the wire through the liner if fitted and select welding program Once the robot is ready press...

Страница 65: ...350 Version A 1 5 2021 Udf rdiget af CTM 65 All Check arrows are showed as green Now the robot can move Press the Teach button to manually move the robot Remove the protective bubble wrap Lift and pus...

Страница 66: ...get af CTM 66 Fasten the balance fixture to the welding hose The balancer must be adjusted only just enough to lift the hose and not pull on the torch Place the start box safely outside the working ra...

Страница 67: ...EN 1598 owner operator s responsibility 5 2 Disassembly Instructions In case of disassembly and rejection of the equipment disconnect and remove all power supplies and disassemble the equipment secur...

Страница 68: ...n the Robot Arm as it can damage components 7 1 1 Teach Pendant It may become necessary to clean the Teach Pendant screen A standard mild industrial cleaning agent without a thinning agent or any aggr...

Страница 69: ...faces wipe off with a dry cloth 7 2 Maintenance 7 2 1 Repair and Maintenance Operators are fully responsible for the consequences of use of non original spare parts In case of repair and maintenance S...

Страница 70: ...arm mounting bolts F X 7 Tool mounting bolts F X 8 Screws bolt on joints F X V Visual inspection F Functional inspection Must be checked after heavy collision 1 Move the Robot Arm to HOME position if...

Страница 71: ...htened Replace or tighten screws if necessary Correct the torque value for screws on the blue lids to 0 4 Nm 7 2 3 2 Control Box and Teach Pendant inspection plan Check Monthly Bi annually Annually 1...

Страница 72: ...nt Check emergency stops separately In case of defects stop the machine immediately and make sure that it cannot restart 7 3 2 Test Freedrive Interval Yearly 1 Unmount attachment or set TCP Payload Co...

Страница 73: ...tion to move the Robot Arm to a safe position before initializing 1 Press ON to enable power Status changes to Robot Active 2 Press and hold Freedrive Status changes to Backdrive 3 Move robot as in Fr...

Страница 74: ...Force Max110N and 140N cm Power Max 80 W Speed Max 400 mm s Momentum 8 kg m s 7 4 Visual Inspection Mandatory half yearly visual inspection includes 1 Disconnect the power cable from Control Box 2 Ch...

Страница 75: ...F 45050258 4 Cibes yellow 17 25 45050503 16 Pipe strap 0243716204 5 Arm 36072711 17 Pipe strap 0243716202 6 Extension 36072712 18 Start box 36071909 7 POM Base 36073222 19 Calibration tool 36073087 8...

Страница 76: ...ide tip 1 0mm 36072457 3 Brass extension 36072860 7 Guide tip 0 8mm Option 36072061 4 Adjustable holder 36072840 7 Guide tip 1 2mm Option 80130152 5 Insulation bush 36072839 Pos Description Article No...

Страница 77: ...ard and Flange Pos Description Article No 1 Flange for UR robot 36073975 2 PCB Holder 36073976 3 Tool PRG PCB 36073969 4 Tool LED Kit 36073970 5 Tool Cable for Cowelder 36074031 6 Keyboard Tool PRG Bu...

Страница 78: ...Udf rdiget af CTM 78 8 4 Spare parts UR10E Robot Pos Description Article No 1 Sealing ring set UR10E for Lids and joints 36073982 2 Lid set complete UR10 10E 36072246 8 5 Contact for free drive Pos De...

Страница 79: ...CoWelder Produkt UR10E PI350 Version A 1 5 2021 Udf rdiget af CTM 79 8 6 Fan housing and filter for Control Box Pos Description Article No 1 Housing for control box 36073840 2 5 pcs Filter sheets 3607...

Страница 80: ...ack selector switch head 36072909 4 Single contact block for head 22 1NC 36072175 5 Single contact block for head 22 1NO 36072174 6 Green light block for head 22 integral LED 24 V 36072176 7 Dark grey...

Страница 81: ...r ServiceTeam a central part of our service concept provides the best possible service throughout the service life of the equipment Our ServiceTeam takes your orders for spare parts and services such...

Страница 82: ...IC CZ a s Tolst ho 451 CZ 415 03 Teplice 3 Czech Republic Tel 420 411 135 600 www migatronic cz Hungary MIGATRONIC KERESKEDELMI KFT Szent Mikl s u 17 a H 6000 Kecskem t Hungary Tel 36 76 505 969 www m...

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