Navn CoWelder™
Produkt UR10E-PI350
Version
A – 1.5.2021
Udfærdiget af:
CTM
2
Contents
1
Machine Data ............................................................................................................................ 4
1.1
Introduction ......................................................................................................................... 4
1.2
General Information ............................................................................................................ 4
1.2.1 Manufacturer .................................................................................................................. 4
1.2.2 Machine ......................................................................................................................... 4
1.2.3 Type Plate ...................................................................................................................... 4
1.2.4 Technical Data ............................................................................................................... 5
1.2.5 EC Declaration ............................................................................................................... 5
2
Safety Instructions ..................................................................................................................... 6
2.1
Illustration of Safety Notes .................................................................................................. 6
2.2
Warning about Special Risks .............................................................................................. 6
2.3
Intended Use ....................................................................................................................... 7
2.4
Reasonably foreseeable Misuse ......................................................................................... 8
2.5
Restructure or Modification of the Machine ........................................................................ 9
2.6
Spare Parts, Wearing Parts and Consumables .................................................................. 9
2.7
Risks involved in Operating the Machine ............................................................................ 9
2.8
Noise and Vibrations ........................................................................................................... 9
2.9
Employer’s Responsibilities ................................................................................................ 9
2.10 Operators’ Responsibilities ............................................................................................... 10
2.11 Operators’ Qualifications ................................................................................................... 10
2.12 Residual Risks .................................................................................................................. 10
2.13 Operators’ Areas of Operation .......................................................................................... 11
2.14 Signs 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 Positioning of Emergency Stops ................................................................................ 13
2.18.1 Emergency Stops ...................................................................................................... 13
2.19 Check of Safety and Protective Equipment ...................................................................... 13
2.19.1 Check of Emergency Stops ....................................................................................... 13
2.20 Transport, Handling and Storage ...................................................................................... 14
2.20.1 Means of Transport .................................................................................................... 15
2.20.2 Prior to Transport ....................................................................................................... 15
2.20.3 Transporting the Machine .......................................................................................... 15
3
Operating Instructions ............................................................................................................. 16
3.1
Setting the TCP ................................................................................................................. 16
3.1.1 TCP Position ................................................................................................................ 17
3.1.2 TCP Orientation ........................................................................................................... 22
3.1.3 Test TCP settings ........................................................................................................ 24
3.2
Programming the robot ..................................................................................................... 26
3.3
Program templates ............................................................................................................ 32
3.4
MigaWeld (Basis Software) ............................................................................................... 34
3.4.1 MigaWeld Program tree ............................................................................................... 34
3.4.2 MigaWeld program features ........................................................................................ 35
3.4.3 MigaWeld installation page .......................................................................................... 44
3.5
Miga Weave (Option) ........................................................................................................ 45
3.6
Miga Offset (Option) .......................................................................................................... 46
3.7
Miga Tack (Option) ........................................................................................................... 47
3.8
Miga Smart Tool ................................................................................................................ 48
3.9
Delete/Update Migatronic software on the CoWelder ....................................................... 51
