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Related Manuals for Estun Welding Cobot
Summary of Contents for Estun Welding Cobot
- Page 1 Welding Cobot Operation Manual V1.1 Welding Cobot Operation Manual...
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Page 2: Table Of Contents
Welding Cobot Operation Manual Contents Chapter Ⅰ Foreword ........................ 5 1.1 Thanks ........................5 1.2 Nameplate ......................5 1.3 How to use the manual..................6 1.4 Copyright and Trademark Statement ..............6 1.5 Manual Disclaimer ....................6 1.6 Common Terms .....................6 1.6.1 Robot ........................ 6 1.6.2 Maximum Working Space ................ - Page 3 3.2.2 Laser welding workstation ................15 3.3 Power Source Communication ................16 3.3.1 CLOOS Power Source Communication ............16 3.3.2 ESTUN Power Source Communication ............17 3.4 Prepare for Power-up ..................17 3.5 Power On and Off ....................17 Chapter Ⅳ Welding package ....................18 4.1 End Flange ......................18...
- Page 4 Welding Cobot Operation Manual 4.3.1 Single-pass Welding ..................19 4.3.2 Multi-pass Process Template ................23 4.3.3 Welding Template ................... 24 4.4 Setup ........................25 4.4.1 Welding Machine ................... 25 4.4.2 Arc Tracking ....................26 Chapter Ⅴ Operation ......................27 5.1Tool Coord ......................27 5.1.1 Setting Tool Coord ..................
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Page 5: Chapter Ⅰ Foreword
Welding Cobot Operation Manual Chapter Ⅰ Foreword 1.1 Thanks Thank you for purchasing and using our product. This is the new generation intelligent industrial lightweight six-joint cobot developed by our company. 1.2 Nameplate You can find information about the robot's model and other details on the robot arm body. -
Page 6: How To Use The Manual
1.4 Copyright and Trademark Statement ESTUN CoDroid、CoDroid、CoDroid EIP、CoBrain、CoDrive、CoSense、CoSafe、 CoTool Is a registered trademark of Eston Cooldraft. Copyright @Nanjing Estun Codroid Technology Co., Ltd. Without the written permission of our company, no individual or entity may excerpt or reproduce any part or all of the content of this document, and it is strictly prohibited to disseminate it in any form. -
Page 7: Maximum Working Space
Welding Cobot Operation Manual 1.6.2 Maximum Working Space The maximum workspace refers to the space that the robot's moving parts can traverse, including the space covered during the movement of the end effector and the workpiece. 1.6.3 Precision Deviation between the commanded distance and the actual achieved distance, averaged over both position and orientation. -
Page 8: Revision History
Welding Cobot Operation Manual 1.7 Revision history Number Version Data Description For the new welding process package (V1.2.X and V1.0 20240619 above) Add Create welding template, add template lock function, add template parameter upload/issue V1.1 20240708 function, add swing parameter, improve multi-layer... -
Page 9: Chapter Ⅱ Safety Information
Welding Cobot Operation Manual Chapter Ⅱ Safety Information 2.1 Announcement ⚫ Ensure that the robot arm and the tool/end-effector are properly and securely fastened in place with bolts. Make sure that the robot arm has sufficient space to move freely. -
Page 10: Universal Welding Safety
Welding Cobot Operation Manual 2.1.1 Universal Welding Safety This product is welding equipment and should comply with the safety protection standards of welding equipment. 1 A special fire area should be divided, and safety signs should be posted and fire-fighting equipment should be equipped. -
Page 11: Laser Safety
Welding Cobot Operation Manual 2.1.2 Laser Safety ① The laser matched with this product emits laser radiation with a wavelength of 1080nm or around 1080nm when working, which is invisible light, and the laser classification is subject to the laser manufacturer. -
Page 12: Emergency Stop
Welding Cobot Operation Manual responsible for any errors or omissions in this manual and retains the final interpretation rights of this manual. 2.3 Emergency Stop Referring to the IEC 60204-1, emergency stops are divided into three categories, namely stop category 0 (Cat.0), stop category 1 (Cat.1) and stop category 2 (Cat.2). Among them, stop category 0 is an uncontrollable stop, stop category 1 and stop category 2 are controllable stops. - Page 13 Welding Cobot Operation Manual ⚫ Places with small vibration or impact energy on the electrical control cabinet (vibration below 0.5G); ⚫ There should be no large electrical noise sources nearby (such as gas shielded welding TIG equipment, etc.); ⚫ There is no potential danger of collision with mobile equipment (such as AGV);...
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Page 14: Chapter Ⅲ Installation And Commissioning
3.1 Installation 3.1.1 Quick Installation Connections Estun codroid intelligent welding workstation is mainly composed of robot system, welding system, end effector system, cooling system and welding platform. Refer to the model of the circuit breaker on the nameplate of the equipment, and connect and energize the welding equipment in the workstation. -
Page 15: Bracket Installation
Welding Cobot Operation Manual reserved pin holes to accurately position the robot arm. Install the robot on a solid, vibration-free surface that is strong enough to withstand at least 10 times the full torsional force of the base joints and at least 5 times the weight of the robot arm. If the robot is installed on a linear axis or a movable platform, the acceleration of the mounting base should be very low, because high acceleration will cause the robot to falsely report a collision and stop running. -
Page 16: Power Source Communication
Welding Cobot Operation Manual 3.3 Power Source Communication 3.3.1 CLOOS Power Source Communication Prepare one CAN-Bus (Shipped with the case)，One end of the Harting connector is connected to the X70 connector of the welder，One end of the loose wire with a label is connected to the robot controller，Connect pins with the following field labels to the terminals under the figure。... -
Page 17: Estun Power Source Communication
Welding Cobot Operation Manual 3.3.2 ESTUN Power Source Communication Prepare two network cables and connect them to each other as shown in the following figure. Connect welder IN Connect welder OUT 3.4 Prepare for Power-up ⚫ Ensure that the workstation is firmly seated;... -
Page 18: Chapter Ⅳ Welding Package
Welding Cobot Operation Manual Chapter Ⅳ Welding package 4.1 End Flange The buttons are shown in the figure, including two "Select" buttons and one "Teach" buttons select ⚫ Select: according to the programmer's own ideas to write the program, in the "template programming" mode does not take effect teach ⚫... -
Page 19: Process Template
Welding Cobot Operation Manual : Click“ ” to exit the service Delete: Delete the current welding program Manual/Auto: Switch Manual/Auto Type: Switch single pass welding/multi-pass welding Start: Run program Power On/Power Off: Switch Power On/Power Off Dry Run: Complete the running of the track without welding... - Page 20 Welding Cobot Operation Manual ① Welding Process-Wire Material : Select the welding wire material in the process curve of CLOOS welding machine, respectively: AlMg2,7Mn, AlMg4,5Mn, AlMg5, AlSi5, CrNi 1.4316, CrNi 1.4370, CrNi 1.4462, Fe(G3Si1), Fe-basis, Fe-Met, Fe-RUT. ① Welding Process-Gas : Select the gases in the process curve of CLOOS welding machine as follows: 100%Argon、100%CO...
- Page 21 Welding Cobot Operation Manual Welding Parameter-AC Dyn: Used to adjust arc length during welding, the "0" welding current is precisely located in the process curve; "-" arc becomes softer and wider; The "+" arc is getting harder and thinner. Welding Parameter-Speed: The actual speed of the robot in the welding process.
- Page 22 Welding Cobot Operation Manual Work Angle: The weaving plane can be rotated around the welding direction, following the right helix rule, and the legend is 10° work Angle. Weaving Direction: The tilt of the weaving direction in the weaving plane can be adjusted. The weaving direction cannot be negative, and the legend is 10°...
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Page 23: Multi-Pass Process Template
Welding Cobot Operation Manual shielding gas must be selected on the welder panel. In addition, the robot can control welding parameters such as welding current and arc length adjustment. 4.3.2 Multi-pass Process Template As shown in the figure above, each parameter in the multi-pass can be set independently, among which X scaling, Y offset, Z offset and a offset are unique parameters of the multi-pass and are set to offset the base pass. -
Page 24: Welding Template
Welding Cobot Operation Manual 4.3.3 Welding Template Select process template-welding template and click Add, according to the actual working conditions, free to choose the point program. This template is used to select welding templates in template programming. The template can be locked. That is, the template cannot be modified when it is locked. -
Page 25: Setup
In the setup interface, there are two tabs: welding machine and arc tracking. 4.4.1 Welding Machine Welder Brand: Two brands can be switched between Cloos and Estun Cloos: QINEO StarT 406 Premium、QINEO StarT 502 Premium、QINEO NexT 452 Premium、QINEO NexT 602 Premium、A500Na、A500FG。... -
Page 26: Arc Tracking
Welding Cobot Operation Manual 4.4.2 Arc Tracking The adjustment parameters are shown in the figure above: ⚫ noSamplingCycleCount: The welding current has no reference value when the welding arc starts, and several cycles should be ignored. ⚫ SamplingMeanCycleCount: The number of periods to start sampling after welding begins.. -
Page 27: Chapter Ⅴ Operation
Welding Cobot Operation Manual Chapter Ⅴ Operation 5.1Tool Coord Click on Interface Robot Control and select Project Vars. The tool coord is established according to the actual end. 5.1.1 Setting Tool Coord 1、Open Project Vars and click add variable. 2、Select global, Type-TOOL, Take any variable name you want (weldgun_arc). - Page 28 Welding Cobot Operation Manual 4、Click calibration, select the four-point calibration method, follow the steps to complete the calibration, or you can directly enter the value in the variable value. 5、Select one-point calibration method and mark the direction of the tool. TCP direction should be defined as +Z direction for the tool straight up and +X direction for the welding torch straight forward, as shown in the following figure.
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Page 29: Switch Tool Coord
Welding Cobot Operation Manual The mass information of the tool, which is used to calculate the full model of robot dynamics. （LoadDyn） The offset of the center of gravity C of the installed Tool or MX（real） clamped load in the X direction of the coordinate system O Tool XYZ, in mm. -
Page 30: Arc-Weld Programming
Welding Cobot Operation Manual 5.2 Arc-weld Programming 5.2.1 Template Programming Template programming can choose straight weld, circular weld (single circular) or custom weld template Straight Weld 1、 Clear Weld Seam. 2、 Switch template to select straight weld. 3、 Add Weld Seam. - Page 31 Welding Cobot Operation Manual Circular Weld 1、 Clear Weld Seam. 2、 Switch template to select straight weld. 3、 Add Weld Seam. 4、 Display the interface under the figure. 5、 Drag the robot and use the end button to record the five points successively until the record is completed.
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Page 32: Flexible Programming
Welding Cobot Operation Manual 5.2.2 Flexible Programming Single weld seam Delete According to the actual working conditions, the motion instructions can be customized, and the programming of combination welds such as straight line, straight line plus circular can be realized. - Page 33 Welding Cobot Operation Manual Multi-pass weld Theory: The welding teaching path is taken as the X-axis of the multi-pass offset coord, and the angular bisector direction of the two planes composed of two reference points and welding arc points is taken as the Z-axis. As a multi-pass offset coordinate system, it is used to calculate the offset value of the subsequent pass compared with the first pass.
- Page 34 Welding Cobot Operation Manual Create multi-pass program 1、 Select flexible programming method. 2、 Teach the first weld program. 3、 Select the appropriate welding template in the process template. If you currently have the multi- -pass template you need, just select the multi- pass welding template you want to use after completing the programming, you can click to start the welding work.
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Page 35: Laser Welding Programming
Welding Cobot Operation Manual 5.3 Laser Welding Programming Laser welding interface details please see our general version of the robot manual, the following is the laser welding program template, for reference only. 2. Move to welding start point (P1) by linear motion 3.
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