Download
Share
Print this page
Migatronic RUTOMATION CoWelder Basic Instruction Manual
  1. Manuals
  2. Brands
  3. Migatronic Manuals
  4. Welding System
  5. RUTOMATION CoWelder Basic
  6. Instruction manual
Migatronic RUTOMATION CoWelder Basic Instruction Manual

Migatronic RUTOMATION CoWelder Basic Instruction Manual

Hide thumbs

Advertisement

Quick Links

Download this manual
Name
Product
Version
Drawn up by:
Name
CoWelder Basic
Model/type
CWB, CWBTT
Function
Collaborative welding robot
Keep this operating manual at the
CoWelder™ Basic
A
Migatronic Automation
CoWelder Basic
Instruction manual
Translated from original
operator's workstation!
Side 1

Advertisement

loading
Need help?

Need help?

Do you have a question about the RUTOMATION CoWelder Basic and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Migatronic RUTOMATION CoWelder Basic

Summary of Contents for Migatronic RUTOMATION CoWelder Basic

  • Page 1 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation CoWelder Basic Instruction manual Translated from original Name CoWelder Basic Model/type CWB, CWBTT Function Collaborative welding robot Keep this operating manual at the operator's workstation! Side 1...

  • Page 2: Table Of Contents

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Table of Contents Generel ..............................4 Functional description ......................... 5 1.1.1 Machine overview CoWelder Basic for MIG ................5 1.1.2 Machine overview CoWelder Basic for TIG ................6 1.1.3 Machine overview CoWelder Basic TIG with Turntable ............. 7 1.1.4...
  • Page 3 Status bar (MigaAxis) ....................... 75 Possible error codes in the status bar MigaAxis Turntable ..............75 Miga Smart Tool ..........................92 Delete/update Migatronic software on the CoWelder ............... 95 Update Robot software ........................95 5.3.1 Update robot software ......................97 5.3.2...

  • Page 4: Generel

    Turntable”, produced by Migatronic. The robot cell’s primary units are a robot from Universal Robots and a Migatronic welding machine. The cell can be made for both MIG and TIG welding. The size of the optional table may vary, and a turntable may be optional for the machine. Therefore, the pictures in this manual are only illustrations and not necessarily a real picture.

  • Page 5: Functional Description

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Functional description This chapter gives the operator a good overview of the machine’s structure and function. 1.1.1 Machine overview CoWelder Basic for MIG UR10E robot Sigma Select 400 welding machine...

  • Page 6: Machine Overview Cowelder Basic For Tig

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 1.1.2 Machine overview CoWelder Basic for TIG UR10E robot PI350 welding machine Teach-Pendant Robot controller 5. Gallows with balance suspension AD250 torch Start box CWF-Kit 9. Self-balancing rack Side 6...

  • Page 7: Machine Overview Cowelder Basic Tig With Turntable

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 1.1.3 Machine overview CoWelder Basic TIG with Turntable Teach-Pendant Movable operating area. Start box/reset button Please note that the start box Turntable must be outside the Robots UR10E Robot working area during production.

  • Page 8: Process Description

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 1.1.4 Process description The operator places workpieces on the welding table, programs the robot and can then press start and run automatic welding of workpieces. When the workpiece is finished welding, the operator removes the workpiece. The operator can then repeat the welding process.

  • Page 9: Machine Data Cowelder Basic

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 1.2 Machine data CoWelder Basic Manufacturer: Migatronic Automation A/S Knøsgårdvej 112 DK-9440 Aabybro ™ Machine name: CoWelder Basic Model/type: Type plate: 1.2.1 Technical data UR10E Robot on rack Measurement 750 x 600 x 2500 mm...

  • Page 10: Ec Declaration Of Conformity

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 1.2.2 EC Declaration of Conformity Side 10...

  • Page 11: Machine Data Cowelder Basic With Turntable

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Machine data CoWelder Basic with Turntable Manufacturer: Migatronic Automation A/S Knøsgårdvej 112 DK-9440 Aabybro ™ Machine name CoWelder Basic Turntable Model/type: CWBTT Type plate: 1.3.1 Technical data UR10E Robot on rack...

  • Page 12: Technical Data For Turntable 250Kg

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 1.3.2 Technical data for turntable 250kg NOTE! It is important to get the power supply from a RCCB HPFI relay. For example, Acti9 RCCB HPFI or similar. Power supply RCCB HPFI...

  • Page 13: Ef-Erklæring

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 1.3.3 EF-Erklæring Side 13...

  • Page 14: Safety Instructions

    The machine, consisting of a Universal Robots robot arm, with an attached welding torch, a Migatronic power source, a Siegmund welding table, a Migatronic Turntable, and security for it (if optional) and is designed for welding items, regardless of quantity and frequency.

  • Page 15: Reasonably Foreseeable Misuse

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation WARNING For safety reasons, the following maximum values must be set as low as possible in the robot. Force: Max160N Power: Max 80 W Speed: Max 1000 mm/s Momentum: 8kg m/s...

  • Page 16: Safety Illustrations

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Safety illustrations 2.3.1 Meaning of general illustrations 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 17: Special Risks

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 2.3.3 Special Risks In addition to risks that are already marked on the machine, there may be special risks that are important to take into account, a few examples are shown below.

  • Page 18: Noise And Vibrations

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Noise and vibrations Prior to start-up of the machine check that its noise level complies with standards. The sound pressure level should not exceed 70 dB(A) near operating areas. Reduce electromagnetic noise by keeping cables for positive and negative electrode closely together, preferably at floor level.
  • Page 19 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Warning: Welding fumes Fumes and gases formed during welding are hazardous to health. Proper use of suitable extraction (supplied by the user) is mandatory during welding. Warning: UV radiation UV radiation may cause eye injuries or eye irritation. Use of welding helmet/protective goggles is mandatory.

  • Page 20: Personal Safety

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 2.10 Personal Safety 2.10.1 Protective Equipment Operators must wear the following protective equipment: SAFETY FOOTWEAR Always wear safety footwear PROTECTIVE GLOVES Avoid burns. Use protective gloves for handling welding torch and welded workpieces!

  • Page 21: Safety And Protective Equipment

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 2.12 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 •...

  • Page 22: Information About Safety Equipment

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Safety on CoWelder Basic Turntable Below is the location of safety devices on the CoWelder Basic Turntable MIG and TIG. Emergency stop 3 disconnects: • Robot • • Turntable Light grid 2 and door contact 4 disconnects: •...

  • Page 23: Check Of Safety And Protective Equipment

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Important If the machine goes into emergency stop during welding, the reset button shall be pressed for min. ½ sek. and the robot need to be started again. 2.14 Check of safety and Protective Equipment All safety and protective equipment must be checked at regular intervals.
  • Page 24 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Transport position Prior to transport Preparation: • Identify the attachment points for lifting • Make sure that the load is balanced. • Remove any obstacles from the defined route of transport.

  • Page 25: Setup And Installation

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation WARNING The machine may under no circumstances be transported or moved with mounted wire feed unit. This only applies to TIG welding machines. WARNING Take care not to damage the robot during lifting.

  • Page 26: Levelling

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Levelling All machine stands must be level and must be adjusted to ensure that the machine foundation is stable. Connection 3.3.1 Electricity When powering up the board, the following conditions must be met: •...

  • Page 27: Setup And Initialisation Of Robot

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Setup and initialisation of robot Turn the robot on with the Teach Pendant. When the robot is ready, press [Load program] Press [On], wait - And thereafter press [Start]. All markings are green. Now the robot is able to move.

  • Page 28: Setup The Tcp

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Use the Teach button to freely move the robot. Setup the TCP For the sake of the safety system and correct operation of the robot’s programming, it is necessary to set the TCP (Tool Center Point).
  • Page 29 CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Press Set point 1] Use the Freedrive button, arrows or Teach button 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 30 Product Version Drawn up by: Migatronic Automation Use the Freedrive button, arrows or Teach button 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 31 CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Press Set point 4 Use the Freedrive button, arrows or Teach button 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 32: Tcp Orientation

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 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 4.2.2 TCP orientation...
  • Page 33 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 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...
  • Page 34 Product Version Drawn up by: Migatronic Automation Check the alignment of the torch vertically. See pictures below (use a spirit level) Move the robot in 4 and 5 axis until you have the same results as in the pictures. When the robot is placed correctly then press OK...

  • Page 35: Test Tcp Settings

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Press Set Information: If you can’t find the text, use the scrollbar, and pull it to the bottom. Press Save followed by Save All 4.2.3 Test TCP Settings Restart the robot...
  • Page 36 Product Version Drawn up by: Migatronic Automation Place the robot and teach pendant as shown on the picture above If the orientation in chapter 4.2.2 Is done correctly, and TOOL is selected Then the torch should move in the same direction as the arrows show on the screen...

  • Page 37: Programming The Robot

    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 38 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation The template contains all necessary elements to finalise a welding program. Fill in the yellow Selected waypoints. The green Selected waypoints remain green. Side 38...
  • Page 39 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Mark the first unfinished waypoint. Mark Command Press Set Waypoint Side 39...
  • Page 40 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 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 grey.
  • Page 41 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 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 42: Program Functions In The Tig Template

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation ..the robot will weld. Remember welding protection! 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 43: Program Functions In The Mig Template

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation welding machine’s active program. This is done in the Secondary Parameter menu on the welding machine, when the Slope UP and Slope Down LED’s are both on. If the display shows 1.08, the active program in the PI is selecting program number 8 in Wirefeeder 1.

  • Page 44: Migaweld (Basic Software)

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation MigaWeld (Basic Software) Press the program tab, press URCaps. When you press MigaWeld an entire aplication tree is generated on the screen. 4.6.1 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 45 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 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...
  • Page 46 Speed slider is set on the blue bar in the bottom of the picture. Migatronic's welding machine is fully integrated in MigaWeld and can be operated from the robot's teach pendant. Regardless of which Migatronic power source your CoWelder is equipped with, you will be able to control all parameters of your welding machine directly from the teach pendant.
  • Page 47 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Select WeldParameters (Only for MIG welding machines) Function Description Job/sequence: Job / Sequence call, the parameters are stored in the welding machine Job number Set job index number in the welding machine...
  • Page 48 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Select WeldParameters (Only for TIG welding machines) Side 48...
  • Page 49 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 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:...
  • Page 50 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Select Weld seam Function Description Travel speed Indicates the speed in mm/s Frequency Option, used only in weaving, see Miga Weave for description of functions Amplitude Dwell left Dwell right...
  • Page 51 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Function Description Move Type Movement type, choose between joints or linear movement Joint speed Joint speed Joint acc. Joint acc. Blend Transition radius If the field is checked and “Start from” in the...
  • Page 52 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Select Arc On Function Description Arc wait time Waiting time between arc detected until the robot begins its movement Voltage ramping trim (Only for MIG) Trims the voltage when arc on for a limited time...
  • Page 53 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 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...
  • Page 54 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Add new circular path Add new circular welding path Weave pattern Setting of weave pattern Seam Tracking Enabling/Disabling of Seam Tracking in the paths created Select Linear or Circular, Select Parameters...

  • Page 55: Migaweld Installation Page

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Select Arc Off Function Description Arc off wait time Waiting time between the arc is off and until the robot begins its movement 4.6.3 MigaWeld installation page Open installation tab, select URCaps, this page shows the main settings.

  • Page 56: Weave (Optional)

    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 57: Offset (Optional)

    Product Version Drawn up by: Migatronic Automation Offset (Optional) 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.

  • Page 58: General Introduction For Seam Tracking

    Product Version Drawn up by: Migatronic Automation General Introduction for Seam Tracking: Seam Tracking is the correction of the weld path, based measurement of current/voltage depending on if it is MIG or TIG. Current for MIG, and voltage for TIG. In general Seam Tracking can be split into two overall categories based on if it’s for MIG or TIG.

  • Page 59: Guide For Seam Tracking Avc (Tig) Guide

    Version Drawn up by: Migatronic Automation Is the reference value, where the robot should aim at achieving +- the deadband. This is found by first welding a reference weld and the measure what the exact value is. This exact value is then put into the Setpoint inputfield.
  • Page 60 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Step Size Is the measure of how much the robot should move, if the deadband is exceeded. Deadband: How much/little the robot can deviate from the setpoint before correcting. Setpoint: Is the reference value, where the robot should should aim at achieving +- the deadband.

  • Page 61: Guide For Touch Sensing

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 4.10 Guide For Touch Sensing With Touch Sensing, the CoWelder adjusts the position of the torch before it starts welding by physically touching the workpiece. A general concept of touch directions first needs to be outlined. In general, the level of complexity for touch sensing can be divided into different categories, depending on how many dimensions the user touch from.
  • Page 62 Product Version Drawn up by: Migatronic Automation A Touch Sensing node is present in the program tree (see line 9 - 12 for example). For this example, a 1D, X Touch Sensing is chosen. Navigating to the Touch Sensing page is the possibility to change the settings for the specific touch node.
  • Page 63 Version Drawn up by: Migatronic Automation In the individual X, Y, and Z panel the touches needs to be setup. This is done by setting two points (Start and Touch Point). Individual parameters (touch speed, retract can also be set if navigating to “parameters”.
  • Page 64 Version Drawn up by: Migatronic Automation Click “Enable Touch Sensing” to access the screen. The touch can now be applied on the specific weld. Depending on the scenario you can either apply the touch on Start/End Point or both at ones (common). This only applies for the first linear path.
  • Page 65 Version Drawn up by: Migatronic Automation Same Concept goes for the Circle path. Navigate to desired Circle and go into go to Touch Sensing in the top panel and click Enable. For this example, a 360 circle is done (consisting of 4 Circle Paths in this example).

  • Page 66: How To Setup A Touch 1D With Rotation

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 4.10.2 How to Setup A Touch 1D with Rotation Where the other touches have been made for a 1D without rotation following example will take you through different touch examples. In this example a 1D with rotation is made for a Linear Path. If rotations need to be accounted for each individual weld point needs to have it own associated touch.

  • Page 67: How To Setup A Touch 2D Without Rotation

    Product Version Drawn up by: Migatronic Automation 4.10.3 How to Setup A Touch 2D without Rotation Here an example is shown for how to make a Touch Sensing program for 2D without rotation. For this to be done one touch node including a 2-axis touch is made (here X, Y). As there is no rotation the “Touch_Sensing_5”...
  • Page 68 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Next “Touch_Sensing_5” is added to Linear_2 and Linear_3 see below. Side 68...

  • Page 69: How To Setup A Touch 2D With Rotation

    Product Version Drawn up by: Migatronic Automation 4.10.4 How to Setup A Touch 2D with Rotation Here an example is shown for how to make a Touch Sensing program for 2D with rotation. For this to be done one touch node including 2-axis touch is made (here X, Y). As a rotation is seen, a touch node needs to be applied to each point.
  • Page 70 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Next “Touch_Sensing” is added to Linear_2 see below. Side 70...

  • Page 71: Tack (Optional)

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 4.11 Tack (Optional) Function Description Travel speed Indicates the welding speed in mm/s Air speed Air speed in the required direction [° / s] Retraction The retraction of TCP from the workpiece [mm]...

  • Page 72: Migaaxis

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 4.12 MigaAxis Only works with MigaWeld software version 2.5.7 or higher and that MigaAxis URCap is installed. When updating an existing CoWelder, security settings must be changed in the installation file (Migatronic Automation) 4.12.1 MigaAxis Turntable (Optional)

  • Page 73: Insert New Migaaxis, Turntable (Optional)

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 4.12.2 Insert new MigaAxis, Turntable (Optional) Choose URCaps, press then MigaAxis Every time the button is pressed a new MigaAxis command is inserted in the menu. MigaAxis can be inserted everywhere in the menu.

  • Page 74: Migaaxis Installations Menu (Optional)

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 4.13 MigaAxis installations menu (Optional) Function Description Axis page Status bar Feedback from External axis is described later in this chapter Power button symbol When pressed the track is activated...

  • Page 75: Status Bar (Migaaxis)

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 4.13.1 Status bar (MigaAxis) Funktion Beskrivelse Status bar: ON [Selected in the Configuration option: configuration] Grey: Not selected/ Green: Selected Status bar: CON Connection to the track: Grey: Not connected/ Green: Connected...
  • Page 76 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation • Carry out a POWER ON (power off/on). F1018: Booting has been Module booting was interrupted several interrupted times. As a consequence, the module After switching on, the module reboots several times boots with the factory setting.
  • Page 77 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation level (e.g. bus cycle time was set too short). • Motor overloaded • Reduce the motor load. F7011: Motor overtemperature • Motor surrounding temperature too • Check the surrounding temperature and...
  • Page 78 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation • Connect the motor or check the motor F7410: Current controller output The condition "I_act = 0 and Uq_set_1 limited longer than 16 ms at its limit" is present contactor.
  • Page 79 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation being used. The sign designates the traversing direction. Note: The deviation (difference) window is pre-assigned quarter of the encoder range. Fault Cause Remedy F7450: Standstill monitoring has After the standstill monitoring time Check the causes and resolve.
  • Page 80 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Check the "reference cam" input. F7460: EPOS: End of reference During the search for reference, when • Repeat the search for reference. cam not found the axis reached the zero mark it also...
  • Page 81 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Check the traversing block and locate the F7485: EPOS: Fixed stop not In a traversing block with the task reached FIXED target position further into the workpiece.
  • Page 82 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy F7575: Drive: Motor encoder The motor encoder signals that it is not Evaluate other queued faults via motor not ready ready. encoder. • Initialization of motor encoder was...
  • Page 83 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Check whether the servo motor can rotate F7900: Motor blocked/speed The servo motor has been operating at controller at its limit the torque limit longer than 1s and freely or not.
  • Page 84 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Reduce the continuous load. F30005: Power unit: Overload The power unit was overloaded. • The permissible rated power unit • Adapt the load duty cycle. • Check the motor and power unit rated...
  • Page 85 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Check whether the fan is running. F30036: Internal overtemperature The temperature inside the drive • Check the fan elements. Message class: Power electronics converter • Check whether the surrounding...
  • Page 86 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Absolute encoder • Check that the encoder cables are routed F31131: Encoder 1: Deviation position incremental/absolute When cyclically reading the absolute in compliance with EMC. • Check the plug connections.
  • Page 87 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Check the line supply voltage. F7403: Lower DC link voltage The DC link voltage monitoring is active • Check the infeed. threshold reached and the lower DC link voltage threshold •...
  • Page 88 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy F7442: LR: multi-turn does not The ratio between the multi-turn Make the ratio between the multi-turn match the modulo range resolution resolution Message class: Error in the and the modulo range (p29246) is and the modulo range an integer number.
  • Page 89 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy F7450: Standstill monitoring has After the standstill monitoring time Check the causes and resolve. responded expired, Message class: Application/ the drive left the standstill window. • Position loop gain too low.
  • Page 90 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Check the encoder regarding zero mark. F7459: Zero mark not detected After leaving the reference cam, the • Check the maximum permissible distance Message class: Application/...
  • Page 91 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy • Check the traversing block and locate the F7485: EPOS: Fixed stop not In a traversing block with the task reached FIXED target position further into the workpiece.

  • Page 92: Miga Smart Tool

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Fault Cause Remedy F7599: Encoder 1: Adjustment The maximum encoder value times the If the value for the maximum possible not possible factor to convert the absolute position absolute Message class: Error in the...
  • Page 93 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Function Description Welditem In this screen, several welding seams can be programmed, all functions are available. Weave pattern None or Weave Offset button Offset can be activated on this side.
  • Page 94 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Status LED- Freedrive light Airpoint 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...

  • Page 95: Delete/Update Migatronic Software On The Cowelder

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Delete/update Migatronic software on the CoWelder Important URCaps can only be used from version 5.4 (e-series) Update Robot software Turn on the robot; wait until the boot sequence has finished Press “Hamburger menu” and select “About”...
  • Page 96 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Press “version” To download the update, use the following link: https://www.universal-robots.com/download/ • Select robot type E-serie • Select software, software update • Select the software version • Select control box type CB3, CB3.1 (only CB series) •...

  • Page 97: Update Robot Software

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 5.3.1 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.

  • Page 98: Delete Migaweld Software

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 5.3.2 Delete MigaWeld software Turn on the robot; wait until the boot sequence has finished Press “Hamburger menu” Side 98...

  • Page 99: New Migaweld Software

    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 USB key in the pc.

  • Page 100: Reinstalling Migaweld Software On A Cowelder

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 5.3.4 Reinstalling MigaWeld software on a CoWelder Turn on the robot; wait until the boot sequence has finished. Press “Hamburger menu” Select System, press URCaps Press the + button. Side 100...
  • Page 101 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Select USB disk 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 102: Assembly And Disassembly Instruction

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation The software is now updated. Notice the green icon. 6 Assembly and disassembly instruction Assembly instruction 6.1.1 Unpacking the machine NOTE Help protect the environment. All the machine’s packaging can be recycled.

  • Page 103: Installation Of A Mig Welding Machine

    Product Version Drawn up by: Migatronic Automation HF ignition poses a risk of electric shock. Risk of disruption/destruction of electronic circuits: This only applies to TIG welding machines. It is important that the robot and welding machine have a correct and effective ground connection, and that the ground connection of the power source (Welding +) is connected to the welding workpiece.
  • Page 104 CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Connect the robot to the power supply. Turn on the robot on the Teach Pendant. Connect the welding hose to the welding machine. Connect the welding machine to the power supply.
  • Page 105 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Connect the gas hose to a gas supply according to the welding machine manual. Connect the robot control box and welding machine using the cable with 2 12-pin connectors. Switch on the welding machine, lead the wire through the liner and select welding program.
  • Page 106 CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Lift and push the robot to start position. 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.

  • Page 107: Installation Of A Tig Welding Machine

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Connect ground cable to the welding machine. Place the ground cable close to the workpiece. Mount the welding wire and select welding program according to the welding machine manual. Note! Lacking / insufficient ground connection may disrupt the welding process and increase the risk of electric shock.
  • Page 108 CoWelder™ Basic Product Version Drawn up by: Migatronic Automation HF ignition involve a risk 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 ground connection, and that the ground connection of the power source (Welding +) is connected to the workpiece.
  • Page 109 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 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. Switch on the robot on the teach pendant.
  • Page 110 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Switch on the welding machine (lead the wire through the liner if fitted) and select welding program. Remove the protective bubble wrap. Lift and push the robot to start position.
  • Page 111 CoWelder™ Basic Product Version Drawn up by: Migatronic Automation The balancer must be adjusted only just enough to lift the hose and not pull on the torch. Place the start box and reset box (optional) in a safe working position, i.e., outside the robot’s working area.

  • Page 112: Installation Of A Mig Or A Tig Welding Machine

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Warning: Welding fumes Fumes and gases formed during welding are hazardous to health. Proper use of suitable extraction (supplied by the user) is mandatory during welding. Warning: UV radiation UV radiation may cause eye injuries or eye irritation. Use of welding helmet/protective goggles is mandatory.

  • Page 113: Information On Environmental Conditions

    CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 7 Information on environmental conditions The equipment is expected to be installed in an environment that is normally dry for industrial equipment. The structure of the equipment ensures minimum environmental impact.

  • Page 114: Machine Parts

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 8.1.3 Machine parts Use a soft cloth moistened with water, isopropyl alcohol, 10% ethanol alcohol or 10% naphtha to clean machine parts. 8.1.4 Painted Surfaces Use a cloth moistened with spirit (alcohol) to clean painted surfaces.

  • Page 115: Preventive Maintenance

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 8.2.3 Preventive Maintenance Information Regular maintenance is important and gives: • Long service Life of the plant. • Security. • Operational reliability. 8.2.3.1 Robot arm inspection plan Check Monthly Bi-annually...
  • Page 116 Product Version Drawn up by: Migatronic Automation 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 are cracked or damaged.

  • Page 117: Function Tests

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Function Tests 8.3.1 Test Safety Function Interval: Monthly 1. Press the emergency stop. 2. Observe the robot stops and shuts off power to the joints. 3. Observe that turntable, if installed, shuts off, and afterwards demand a “reset”.

  • Page 118: Verify Safety Settings

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 2. Press and hold Freedrive. Status changes to Backdrive 3. Move robot as in Freedrive mode. Joint brakes are released where needed once the Freedrive button is activated. Important In Backdrive Mode the robot is “heavy” to move around You must test Backdrive mode on all joints.

  • Page 119: Visual Inspection

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Visual Inspection Mandatory half-yearly visual inspection includes: 1. Disconnect the power cable from Control Box. 2. Check the Control Board terminals are properly inserted and do not have loose wires.

  • Page 120: Spare Parts

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 9 Spare parts Spare parts CoWelder MIG Welder Pos Description Article No Description Article No Plate w/logo 36072131 Extension 36072712 Sigma Select 400 W Gallows 36072127 79542018 Synergic Tecna Balancer 1-2 kg...

  • Page 121: Spare Parts Cowelder Tig Welder

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Spare parts CoWelder TIG Welder 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 Supporting foot CWF...

  • Page 122: Spare Parts Ur10E Robot

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Spare parts UR10E Robot Description Article No Sealing ring set UR10E for Lids and joints 36073982 Lid set complete UR10+10E 36072246 Fan Housing and filter for Control box Description Article No...

  • Page 123: Miga Smart Tool

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Miga Smart Tool 9 Nm Mounting of connectors The LEDs are mounted in the Keyboard and Flange. Pos Description Article No Flange for UR robot 36073975 PCB Holder 36073976 Tool PRG PCB...

  • Page 124: Abirob A Eco 360 Kit With Hose

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Abirob A ECO 360 kit with hose Side 124...

  • Page 125: Abirob W500 22/45° Kit

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Abirob W500 22/45° kit Side 125...
  • Page 126 Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Side 126...

  • Page 127: Abirob W300 22/45° Kit

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation Abirob W300 22/45° kit Side 127...

  • Page 128: Ad 250 Tig Torch

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation AD 250 TIG torch Side 128...

  • Page 129: Connection For Ad 250 Tig Torch

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 9.10 Connection for AD 250 TIG torch Pos Description Article No Pos. Description Article No Flange for UR Robot 36072504 Coldwire set DIX KD400 36072160 POM torch holder 36073222 Guide tip 1.0 mm...

  • Page 130: Start Box

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 9.11 Start box Pos. Description Article No Emergency stop 36072178 Green flush illuminated pushbutton 36072179 Black selector switch head 36072909 Single contact block for head Ø22 1NC 36072175 Single contact block for head Ø22 1NO 36072174 Green light block for head Ø22 integral LED 24 V...

  • Page 131: Reset Box

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 9.12 Reset box Pos. Description Article No Blue flush illuminated pushbutton 36074959 ZALV XB5 Ø 22 mm control and signalling units 36074960 Electrical block with screw clamp NO contact 36072174...

  • Page 132: Spare Parts Turntable

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 9.13 Spare parts Turntable Pos Description Article No Pos. Description Article No M8 angle plug 10M cable HTD Belt 8M 20 776mm 36074034 36073603 YG8U Power connection 36071572 Belt Pulley Machining...

  • Page 133: Accessories Turntable (Option)

    Name CoWelder™ Basic Product Version Drawn up by: Migatronic Automation 9.14 Accessories Turntable (Option) Pos. Description Article No Chuck Adapter Flange Machining 36074360 Chuck Ø250/2 84000250 Side 133...

  • Page 134: Versions Control

    Version 19.04.2024 Released 11 Migatronic Service Team Our Service Team, a central part of our service concept, provides the best possible service throughout the service life of the equipment. Our Service Team 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 135 MIGATRONIC EQUIPEMENT DE SOUDURE S.A.R.L. Parc Avenir II, 313 Rue Marcel Merieux Ericssonstraat 2, NL-5121 ML Rijen, Holland FR-69530 Brignais, France Tel. +31 (0)161-747840, www.migatronic.com Tel. +33 04 78 50 65 11, www.migatronic.com Sweden Italy MIGATRONIC SVETSMASKINER AB MIGATRONIC s.r.l. IMPIANTI PER SALDATURA Nääs Fabriker, Box 5015, S-448 50 Tollered, Sweden...

This manual is also suitable for:

Rutomation cwbRutomation cwbttAutomation cowelder basic cwb