Migatronic automation CoWelder UR10E PI350 AC/DC Instruction Handbook Manual
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Migatronic automation CoWelder UR10E PI350 AC/DC Instruction Handbook Manual

Collaborative welding robot
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Udfærdiget af:
Instruction Handbook
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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
CoWelder™
UR10E-PI350
A – 1.5.2021
CTM
operator's workstation!
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Summary of Contents for Migatronic automation CoWelder UR10E PI350 AC/DC

  • Page 1 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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!

  • Page 2: Table Of Contents

    3.4.2 MigaWeld program features ..................35 3.4.3 MigaWeld installation page ..................44 Miga Weave (Option) ......................45 Miga Offset (Option) ......................46 Miga Tack (Option) ......................47 Miga Smart Tool ........................ 48 Delete/Update Migatronic software on the CoWelder ............51...
  • Page 3 Udfærdiget af: 3.10 Update Robot software ..................... 51 3.10.1 Update Robot software ....................53 3.10.2 Delete Migatronic Software on the CoWelder ............54 3.10.3 New MigaWeld software .................... 56 3.10.4 Reinstalling Migaweld software on a CoWelder ............56 Description of Functions ......................60 Machine Structure ......................

  • Page 4: Machine Data

    Operators are required to read any user guides and data sheets for additional or integral equipment supplied with the machine, such as robot and welding machine. General Information 1.2.1 Manufacturer Company details: Migatronic Automation A/S Knøsgårdvej 112 DK-9440 Aabybro 1.2.2 Machine Machine Name: CoWelder™...

  • Page 5: Technical Data

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 1.2.4 Technical Data Mechanical Data UR10E Robot incl. mount and Measurement 750 x 600 x 2500 mm suspension 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.

  • Page 6: Safety Instructions

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Safety Instructions Illustration of Safety Notes A pictogram and a describing signal word illustrate the safety notes. Pictogram Signal Word Description Immediate hazard that may cause serious physical HAZARD injury or death. Possible hazardous situation that may cause WARNING serious physical injury or death.

  • Page 7: Intended Use

    Udfærdiget af: Intended Use The machine, consisting of a Universal Robots robot arm, a Migatronic power source and a welding torch, are designed for welding simple workpieces, irrespective of quantity and frequency. The CoWelder, a collaborative robot interacting with one operator, is designed for manual feeding only.

  • Page 8: Reasonably Foreseeable Misuse

    If you intend to mount the robot on a smaller welding table, the virtual fencings must be adjusted to the actual size of the welding table. Please contact your Migatronic contact person for more information. Keep warning signs and signals visible. Replace at once any damaged or removed signs or signals.

  • Page 9: Restructure Or Modification Of The Machine

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Restructure or Modification of the Machine Arbitrary modifications or alterations voids the manufacturer's warranty and responsibility for damages resulting thereof. The manufacturer of the change takes over all responsibilities and obligations regarding compliance with Council Directive 2006/42 / EC - Machinery Directive.

  • Page 10: Operators' Responsibilities

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 2.10 Operators’ Responsibilities Prior to operating the machine, operators (persons intended to operate the machine) are responsible for: • complying with basic regulations for safety at work and accident prevention •...

  • Page 11: Operators' Areas Of Operation

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Warning: Weld spatter Weld spatter may cause burns or eye injuries. Use of protective gloves, clothes and welding helmet/protective goggles is mandatory. Other operators, visitors etc. must be kept at a suitable distance from the robot or otherwise protected against weld spatter (owner/operator’s responsibility).

  • Page 12: Personal Safety

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 2.15 Personal Safety 2.15.1 Protective Equipment Operators must wear the following protective equipment: SAFETY FOOTWEAR Wear safety footwear PROTECTIVE GLOVES Avoid burns. Use protective gloves for handling welding torch and welded workpieces! SAFETY GLASSES Use of safety glasses required...

  • Page 13: Safety And Protective Equipment

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 2.17 Safety and Protective Equipment Defective safety and protective equipment may cause hazardous situations, in which case • the power supply to the machine must be switched off immediately • the machine must be secured against restart •...

  • Page 14: Transport, Handling And Storage

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 2.20 Transport, Handling and Storage Make the machine ready for transport and secure all parts to ensure safe transport. Take precautionary measures. During lifting operations, attachment points must ensure balancing of the machine/machine parts.

  • Page 15: Means Of Transport

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 2.20.1 Means of Transport Travelling crane crab, lifting hooks and forklift truck are suitable for transporting the machine. 2.20.2 Prior to Transport Preparation: • Identify the attachment points for lifting •...

  • Page 16: Operating Instructions

    Do not mount the UR10E robot on a welding table smaller than 3000x1700mm. If you intend to mount the robot on a smaller welding table, the virtual fencings must be adjusted to the actual size of the welding table. Please contact your Migatronic contact person for more information.

  • Page 17: Tcp Position

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 3.1.1 TCP Position Press Installation 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 precisely on a selected fixed point.
  • Page 18 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 pointed at the fixed point, then press OK Press Set point 3...
  • Page 19 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 pointed at the fixed point, then press OK...
  • Page 20 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 robot is pointed at the fixed point, then press OK Press Set...
  • Page 21 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 press Save...

  • Page 22: Tcp Orientation

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 3.1.2 TCP Orientation Press 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 mount should be parallel with the X-axis, this is illustrated on the...
  • Page 23 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 robot is placed correctly then press OK...

  • Page 24: Test Tcp Settings

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Press Set Information: If you can´t find the text, use the scroll bar to scroll down to the bottom. Press Save and then press Save all 3.1.3 Test TCP settings Restart the robot Press Move Select Tool under Feature...
  • Page 25 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af:  Place the robot and teach pendant as shown on the picture above  If the orientation in chapter 3.1.2 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 the robot from moving outside the secured working range.

  • Page 26: Programming The Robot

    3.2 Programming the robot IMPORTANT We 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 Select CoWelder SIGMA TemplateUK…...
  • Page 27 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Šablona obsahuje veškeré prvky nutné k dokončení svařovacího programu. Vyplňte žlutě zvýrazněné body. Zeleně zvýrazněné body zůstanou zelené.
  • Page 28 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Mark the first unfinished waypoint. Mark Command Press Set Waypoint.
  • Page 29 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Manually set the robot. Use the arrows on the screen to fine-adjust 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.
  • Page 30 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Press the 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.
  • Page 31 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: … the robot welds. Don’t forget your protective equipment! WELDING 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 radiation from infrared, visible and ultra- violet light.

  • Page 32: Program Templates

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Program templates Sub Programs Arc_On Turns on the Arc, and wait for the Arc Detect signal to go on, when Arc is enabled on the Arc On/Off button on the operators pendant. Arc_Off Turns off Arc, and wait for the Arc Detect signal to go off.
  • Page 33 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Macro’s PI_PROG(PRG_NO) Set’s the Program number in the welding machine. 64 programs can be selected. “PRG_NO” is placed as a constant argument to the MACRO call. WELD_PAR(CURR,WIRE,L) This Macro call adjust’s the welding parameters. Current (amperes), Wirespeed (cm) are passed as constant arguments to the Macro call.

  • Page 34: Migaweld (Basis Software)

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: MigaWeld (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 program tree, several program nodes are included. These are reviewed in the following section.

  • Page 35: Migaweld Program Features

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 3.4.2 MigaWeld program features Press ”Command” Function Description Enable counter The counter records each program run Wait for start-button Awaiting start 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 ”Home position”...
  • Page 36 100%. If the speedslider is not set to 100%, the desired speeds for the robot movements cannot be observed. Migatronic's welding machine is fully integrated in MigaWeld and can be operated from the robot's teach pendant. Regardless of which MIG your CoWelder is equipped with, you will be able to control...
  • Page 37 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Select WeldParameters Function Description Pi Program Set program number in the welding machine Current Set welding current in the welding machine Wire speed Set wire speed in the welding machine Pulse Settings: Set pulse selection for welding current in the welding machine Pulse off...
  • Page 38 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Select WeldItem Function Description Weld seam Inserts a welding seam into the program, welding seams 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...
  • Page 39 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Select the first AirPoint in a Weld Item Function Description Move Type Movement type, choose between joints or linear movement Joint speed Joint speed Joint acc. Joint acc. Blend Transition radius Enable jump point If the field is checked and “Start from”...
  • Page 40 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 Airpoint Move the robot to this point Add new Airpoint Add new Airpoint...
  • Page 41 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 welding movement Add new circular path Add new circular welding movement...
  • Page 42 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Select Linear Function Description Set End Point Set the end point of the linear movement Move to End Point Move the robot to the end point Add new linear path Add new linear welding path Add new circular path Add new circular welding path...
  • Page 43 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Select Linear or Circular; select Parameters Function Description Use shared parameters If the box is checked, 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.

  • Page 44: Migaweld Installation Page

    Try to take the key out and insert it again and press reload license. If the icon does not change, contact your nearest Migatronic dealer. This icon means that the USB key is inserted in the robot controller. The module is installed and is active on your robot.

  • Page 45: Miga Weave (Option)

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Miga Weave (Option) Select linear Function Description Use shared parameters If the box is checked, you use the default parameters for the weld. If the field is not checked, you can manually set the desired parameters for each path.

  • Page 46: Miga Offset (Option)

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Miga Offset (Option) Once all the points in a welditem are set, it is possible to offset the entire welditem. At the same time, it is possible to copy the entire item and subsequently offset the copied item. Highlight the welditem To copy the welditem, use the program tree toolbar, press copy.

  • Page 47: Miga Tack (Option)

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Apply offset By pressing Apply offset, you move the item based on the required parameters Cancel If you press Cancel, you will return to the welding workpiece node. “WeldItem” Miga Tack (Option) Function Description Travel speed...

  • Page 48: Miga Smart Tool

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Number of welds The number of welds between the start and end point of the pathway Arc on wait time Arc off wait time Miga Smart Tool Home position and WeldParameters Function Description Home position...
  • Page 49 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Path menu Function Description Paths In this screen only linear and circular welding points can be programmed Weave pattern None or weave...
  • Page 50 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Freedrive Status LED-light Air point Circular Linear welding point welding point Run wire back Run wire forward Function Description Freedrive The robot can be pulled / moved by pushing it with your hands Air point (function 1) Long press: Generates a new welding seam and inserts the first air point of this weld seam.

  • Page 51: Delete/Update Migatronic Software On The Cowelder

    Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 sequence has finished Press “Hamburger menu” and select “About”...
  • Page 52 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Press “version” To download the update, use the following link: https://www.universal-robots.com/download/  Select e-series controller generation  Select software, software update  Select 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.

  • Page 53: Update Robot Software

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 3.10.1 Update Robot software Download or find the 3 magic files on the supplied 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) Press “Hamburger menu”...

  • Page 54: Delete Migatronic Software On The Cowelder

    CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 USB licence key from the cabinet.
  • Page 55 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Press “Hamburger menu” Select System, press URCaps Mark each line in this box and press the “MINUS” button. Continue until the box is empty. Press Restart...

  • Page 56: New Migaweld Software

    3.10.3 New MigaWeld software  Contact Migatronic service, they can send an e-mail with new software  When you have received a mail from Migatronic with a zip file attached  Unzip this file  Insert your green license USB drive in the pc ...
  • Page 57 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Wait until the robot boot sequence has finished Insert the green license key in a free USB slot in the controller cabinet. Press “Hamburger menu”...
  • Page 58 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 versions of URCaps may have fewer files to install.
  • Page 59 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 page again The software is now updated.

  • Page 60: Description Of Functions

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Description of Functions This chapter provides operators with a complete overview of the structure and functions of the machine. Machine Structure UR10E robot PI350 Welding machine Teach pendant Robot controller Gallows with balance suspension AD250 L Torch Start box...

  • Page 61: Process Description

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Process Description The operator places a workpiece on the welding table, programs the robot and welds the workpiece. After the welding process, the operator removes the workpiece. The operator can repeat the process, save welding programs and recall them as required.
  • Page 62 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Use a crane or a forklift truck to lift the robot onto the welding table. Place the robot at the centre of the longitudinal side 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.
  • Page 63 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 gas supply according to the welding machine manual.
  • Page 64 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 [Load Program]. Press [ON] - wait Then press [START].
  • Page 65 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 push the robot to start position.
  • Page 66 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 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 range of the robot.

  • Page 67: Disassembly Instructions

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Place the earth cable close to the workpiece. Mount the welding wire and select welding program according to the welding machine manual. Note! Lacking / insufficient earth connection may disrupt the welding process and increase the risk of electric shock.

  • Page 68: Cleaning And Maintenance

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: IMPORTANT WEEE Directive 2012/19/EU on Waste Electrical and Electronic Equipment applies to this product. Dispose of the product according to local standards and regulations. Cleaning and Maintenance Important Disconnect gas and power supplies prior to cleaning and service. Cleaning Note: Never use compressed air to clean the Robot Arm as it can damage...

  • Page 69: Machine Parts

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 7.1.3 Machine Parts Use a soft cloth moistened with water, isopropyl alcohol, 10% ethanol alcohol or 10% naphtha to clean machine parts. 7.1.4 Painted Surfaces Use a cloth moistened with spirit (alcohol) to clean painted surfaces. 7.1.5 Aluminium Surfaces Use a cloth moistened with spirit (alcohol) to clean aluminium surfaces.
  • Page 70 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 7.2.3.1 Robot arm inspection plan Check Monthly Bi-annually Blue lids* Blue lid screws Flat rings Robot cable Robot cable connection Robot arm mounting bolts* Tool mounting bolts* Screws/bolt on joints* V=Visual inspection F=Functional inspection *=Must be checked after heavy collision 1.
  • Page 71 Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 6. Inspect the flat rings for wear and damage. - Replace the flat rings if they are worn out or damaged. 7. Inspect the blue lids on all the joints for any cracks or damage. - Replace the blue lids if they cracked or damaged.

  • Page 72: Function Tests

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Function Tests 7.3.1 Test Safety Function Interval: Monthly 1. Press the emergency stop 2. Observe the robot stops and shuts off power to the joints 3. Power on robot again Important Check emergency stops separately.

  • Page 73: Test Backdrive Mode

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 7.3.3 Test Backdrive Mode Interval: Yearly If the robot is close to colliding with something, you can use the Backdrive function to move the Robot Arm to a safe position before initializing. 1.

  • Page 74: Verify Safety Settings

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: 7.3.4 Verify Safety Settings Interval: Yearly and in case of system breakdown 1. Open program (see illustration) 2. Verify that safety settings do not exceed permissible maximum values: Force: Max110N and 140N/cm² Power: Max 80 W Speed: Max 400 mm/s Momentum: 8 kg m/s...

  • Page 75: Spare Parts

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Spare parts 79115080 UR10E/PI350 W AC/DC 79115081 UR10E/PI350 AC/DC CWF Spare parts CoWelder Description Article No Pos. Description Article No Plate w/logo 36072131 AD 250L Complete 80491260 Gallows 36072127 Welding Hose 80371400 Tecna Balancer 1-2 kg 78856132...

  • Page 76: Ad 250L Tig Torch

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Article Pos Description Pos. Description Article No Flange for UR Robot 36072504 Coldwire set DIX KD400 36072160 POM torch holder 36073222 Guide tip 1.0mm 36072457 Brass extension 36072860 Guide tip 0.8mm (Option) 36072061 Adjustable holder 36072840...

  • Page 77: Miga Smart Tool

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Miga Smart Tool 9 Nm Connector mounting The LED-lights are mounted in resp. Keyboard and Flange Pos Description Article No Flange for UR robot 36073975 PCB Holder 36073976 Tool PRG PCB 36073969 Tool LED Kit 36073970...

  • Page 78: Spare Parts Ur10E Robot

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Spare parts UR10E Robot Description Article No Sealing ring set UR10E for Lids and joints 36073982 Lid set complete UR10+10E 36072246 Contact for free drive Description Article No Freedrive Button 36072483...

  • Page 79: Fan Housing And Filter For Control Box

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Fan housing and filter for Control Box Description Article No Housing for control box 36073840 5 pcs. Filter sheets 36073838...

  • Page 80: Start Box

    Navn CoWelder™ Produkt UR10E-PI350 Version A – 1.5.2021 Udfærdiget af: Start box                       Pos. Description Article No   Emergency stop 36072178   Green flush illuminated pushbutton 36072179 Black selector switch head 36072909  ...

  • Page 81: Version Control

    Amendment Version 1.5.2021 Released Migatronic ServiceTeam Our 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 as maintenance agreements including periodic check-ups, operators and technicians training courses as well as consulting services in the field of automated welding.
  • Page 82 MIGATRONIC EQUIPEMENT DE SOUDURE S.A.R.L. Ericssonstraat 2, NL-5121 ML Rijen, Holland Parc Avenir II, 313 Rue Marcel Merieux Tel. +31 (0)161-747840, www.migatronic.nl FR-69530 Brignais, France Tel. +33 04 78 50 65 11, www.migatronic.fr Sweden Italy MIGATRONIC SVETSMASKINER AB MIGATRONIC s.r.l. IMPIANTI PER SALDATURA Nääs Fabriker, Box 5015,S-448 50 Tollered, Sweden...

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Automation cowelder ur10e pi350 ac/dc + cwf multi

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