Lincoln Electric Cooper GoFa-10 Operator's Manual
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Lincoln Electric Cooper GoFa-10 Operator's Manual

Lincoln Electric Cooper GoFa-10 Operator's Manual

Abb welding cobot cart
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Operator's Manual
Cooper Welding Cart - ABB Operator's Manual
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Date Purchased
Code: (ex: 10859)
Serial: (ex: U1060512345)
IM10708
| Issue Date September - 2024
© Lincoln Global, Inc. All Rights Reserved.
Need Help? Call 1.888.935.3878
to talk to a Service Representative
Hours of Operation:
8:00 AM to 6:00 PM (ET) Mon. thru Fri.
After hours?
Use "Ask the Experts" at lincolnelectric.com
A Lincoln Service Representative will contact you
no later than the following business day.
For Service outside the USA:
Email: Cobot_Service@LincolnElectric.com

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Summary of Contents for Lincoln Electric Cooper GoFa-10

  • Page 1 Operator’s Manual Cooper Welding Cart - ABB Operator’s Manual Need Help? Call 1.888.935.3878 Register your machine: to talk to a Service Representative www.lincolnelectric.com/register Authorized Service and Distributor Locator: Hours of Operation: www.lincolnelectric.com/locator 8:00 AM to 6:00 PM (ET) Mon. thru Fri. Save for future reference After hours? Use “Ask the Experts”...
  • Page 2 THANK YOU FOR SELECTING A QUALITY PRODUCT BY KEEP YOUR HEAD OUT OF THE FUMES. LINCOLN ELEC TRIC. DON’T get too close to the arc. Use corrective lenses if necessary to stay a reasonable distance away from the arc. READ and obey the Safety Data PLEASE EXAMINE CARTON AND EQUIPMENT FOR Sheet (SDS) and the warning label DAMAGE IMMEDIATELY...

  • Page 3: Section A: Warnings

    P.O. Box 351040, Miami, Florida 33135 or CSA Standard causes localized Electric and Magnetic Fields (EMF). W117.2. A Free copy of “Arc Welding Safety” booklet E205 is available from the Lincoln Electric Company, 22801 and welding machines St. Clair Avenue, Cleveland, Ohio 44117-1199.
  • Page 4 ELECTRIC SHOCK ARC RAYS CAN BURN. CAN KILL. 3.a. The electrode and work (or ground) circuits are 4.a. Use a shield with the proper lter and cover plates to protect your electrically “hot” when the welder is on. Do eyes from sparks and the rays of the arc when welding or not touch these “hot”...
  • Page 5 WELDING AND CUTTING CYLINDER MAY EXPLODE IF SPARKS CAN CAUSE DAMAGED. FIRE OR EXPLOSION. 7.a. Use only compressed gas cylinders containing the correct shielding gas for the process used 6.a. Remove re hazards from the welding area. If and properly operating regulators designed for this is not possible, cover them to prevent the welding sparks the gas and pressure used.

  • Page 6: Electromagnetic Compatibility (Emc)

    If any electromagnetic disturbances are detected the operator must put in place corrective actions to eliminate these disturbances with, if necessary, assistance from Lincoln Electric. This equipment does not comply with IEC 61000-3-12. If it is connected to a public low-voltage system, it is responsibility of the installer or user of the equipment to ensure, by consultation with the distribution network operator if necessary, that the equipment may be connected.
  • Page 7 Maintenance of the Welding Equipment The welding equipment should be routinely maintained according to the manufacturer’s recommendations. All access and service doors and covers should be closed and properly fastened when the welding equipment is in operation. The welding equipment should not be modified in any way except for those changes and adjustments covered in the manufacturer’s instructions.

  • Page 8: Table Of Contents

    Preparation and Setup ................ 1-1 Introduction to ABB Collaborative Robot/Controller ......1-1 Introduction to Cooper Welding Cobot ..........1-2 Cooper Welding Cobot Power Requirements........1-2 Cooper Welding Cobot Universal Cart Layout......... 1-3 Cooper Welding Cobot Universal Cart Dimensions......1-4 Cooper Welding Cobot Unboxing and Setup........1-6 Collaborative Robot Working Envelope ...........

  • Page 9: Preparation And Setup

    INTRODUCTION TO ABB COLLABORATIVE ROBOT/CONTROLLER The ABB Collaborative Controller (OmniCore C30) (1) is a computer that controls the movements of the cobot arm. Operators can create programs to dictate movement and angles of the cobot arm, and welding torch. Figure 1-1 Lincoln Electric...

  • Page 10: Introduction To Cooper Welding Cobot

    The Cooper Welding Cobot Cart comes configured on Lincoln Electric's Generation II Universal Cart. The ABB GoFa-10 Cobot as either an air or water cooled welding system, that comes setup to weld 0.035"...

  • Page 11: Cooper Welding Cobot Universal Cart Layout

    Preparation and Setup COOPER WELDING COBOT UNIVERSAL CART LAYOUT Figure 1-3: Cooper GoFa-10 Water-Cooled Cobot Cart shown 1. ABB GoFa Pendant 4. Water-Cooled Welding Torch 7. Power Wave R450 2. Gen II Universal Cooper Cart 5. AutoDrive 4R220 Wire Feeder 8.

  • Page 12: Cooper Welding Cobot Universal Cart Dimensions

    Preparation and Setup COOPER WELDING COBOT UNIVERSAL CART DIMENSIONS Figure 1-4: PerfectPoint and Power Ream Plus Installed Lincoln Electric...
  • Page 13 Preparation and Setup Figure 1-5: PerfectPoint and Power Ream Plus Installed Lincoln Electric...

  • Page 14: Cooper Welding Cobot Unboxing And Setup

    Figure 1-6 4. Wheel the welding cart to the desired location. NOTE: The PowerWave R450 does not come equipped with a power cord, it must be purchased separately. Please make note of cord length and size before purchasing. Lincoln Electric...

  • Page 15: Collaborative Robot Working Envelope

    Note: It's important to be mindful of collaborative speeds. Teaching speeds can be up around 750 mm/ sec; operable speeds (i.e. While running a programming) should not ex- ceed 250 mm/sec to ensure safety for operators working collaboratively with the Cobot. Figure 1-7 Lincoln Electric...

  • Page 16: Reference Materials

    For more information on the following operator manuals, see the link below this list. • Cooper App • Lincoln Electric Power Wave R450 Welding Power Supply Figure 1-8 • Lincoln Electric Auto Drive 4R100 or 4R220 Wire Feeder Figure 1-9 • MagnumPro Air Cooled Wire Brake Torch Figure 1-10...
  • Page 17 Preparation and Setup • MagnumPro Water Cooled Wire Brake Torch Figure 1-11 For more information, see https://www.lincolnelectric.com/en/operators-manuals Or use the QR code below: Lincoln Electric...

  • Page 18: Abb Gofa Operation

    When starting the welding Cobot, a few error notifications may appear on the screen and will cause the Cobot to malfunction. To help aid in clearing these errors, please see Synchronization Process Steps on page 2-6. If the errors do not clear, please contact your local Lincoln Electric representative. Lincoln Electric...

  • Page 19: How To Clear An Error On Abb

    2. Go in to Event Log (1) and select the Acknowledge Errors icon (2). Figure 2-2 3. Go in to Domain menu (3) and select Clear all (4). Figure 2-3 4. Put the Cobot in Auto Mode. See Switching from Auto to Manual and Back to Auto on page 2-5. Lincoln Electric...

  • Page 20: Brake Release Tool

    The light on the welding robot arm will illuminate three colors to mirror what the torch is doing: • Green–Active weld or teaching a weld • Blue–Recording/ programming Cobot arm movement • Amber–Weld fault • Light Blue/ White–Unlocked Cobot arm to move freely Lincoln Electric...

  • Page 21: How To Navigate To Abb Ui To Create A Custom Weld Definition

    HOW TO NAVIGATE TO ABB UI TO CREATE A CUSTOM WELD DEFINITION For more information on the Cooper App and creating a custom weld, please see the links below: Cooper Welding Cobot Resources Cooper App – Operators Manual Lincoln Electric...

  • Page 22: Switching From Auto To Manual And Back To Auto

    4. When the enabling button is pressed, the Motors on icon will become highlighted. The operator should hear a “click” of the joint brakes on the Cobot arm. 5. To switch back into auto mode, open the Control Panel and select the Auto icon. Lincoln Electric...

  • Page 23: Synchronization Process Steps

    SYNCHRONIZATION PROCESS STEPS 1. Select the Settings icon (1). Figure 2-7 Note: For Admin log in information, contact the local Lincoln Electric representative. 2. Select the Log out Default User icon (2) and log in as admin. Figure 2-8 Lincoln Electric...
  • Page 24 3. Select the Safety Controller icon (3). Figure 2-9 Note: If the status light (4) is red, the robot is not synchronized. 4. Select the Synchronization tab (5). Figure 2-10 5. Toggle the Enable Move to Sync Position (6) to On. Figure 2-11 Lincoln Electric...

  • Page 25: Shipping Mode Steps

    Note: Use cardboard protectors between banding and cart to prevent damage to the cart. 3. Secure the Cobot using metal and/or robust material banding at 2 or more places. 4. For shipping dimensions, please see Cooper Welding Cobot Unboxing and Setup on page 1-6. Lincoln Electric...

  • Page 26: Gofa & Cooper App Software Update Process

    ABB GoFa Operation GOFA & COOPER APP SOFTWARE UPDATE PROCESS For more information on GoFa and Cooper App Software updates, please see the following links: Software Update Process Lincoln Electric...

  • Page 27: Cooper Welding Cobot Optional Equipment

    POWER WAVE® R450 Section 3 COOPER WELDING COBOT OPTIONAL EQUIPMENT For more information on the following products: • Lincoln Electric Power Ream Torch Cleaner • Lincoln Electric PerfectPoint Automated TCP Solution see, Please https://www.lincolnelectric.com/en/operators-manuals Or use the QR code below:...

  • Page 28: Maintenance

    • Clean the wire feeder assembly. • Check that all the electrical terminals of the whole unit are tight. Yearly Checks Complete • Change the lithium cell of the processor or the front panel of the main control PCB. Lincoln Electric...

  • Page 29: Cooper Welding Cobot Parts Catalog

    FlexPendent Power Cable Cover A2054479 OmniCore C30 Small Size Silent Fan A2055938 OmniCore C30 Standard Size Silent Fan Lincoln Electric MAGNUMPRO Air Cooled Weld Torch K2647-11 A/C Robotic Torch (11 ft Long) GoFa-5 K2647-13 A/C Robotic Torch (13 ft Long) GoFa-10 KP45-3545-15 Liner - 15 ft for 0.035 in.
  • Page 30 ED034270 SuperArc 0.035 in. L-59 WeldWire (33 lb Spool) ED034271 SuperArc 0.045 in. L-59 WeldWire (33 lb Spool) Lincoln Electric MAGNUMPRO Water-Cooled Weld Torch K5415-11 W/C Robotic Torch (11 ft Long) GoFa-5 K5415-13 W/C Robotic Torch (13 ft Long) GoFa-10 KP44-564-15 Liner - 15 ft for 0.035 in.
  • Page 31 Cooper Welding Cobot Parts Catalog Spare Parts List Kits AD2498-26 Spare Parts, 0.035/0.045 AC WB Torch AD2498-28 Spare Parts, 0.035/0.045 WC WB Torch For more information see, https://www.lincolnelectric.com/en/operators-manuals Or use the QR code below: Lincoln Electric...
  • Page 32 Lincoln Electric is solely within the control of, and remains the sole responsibility of the customer. Many variables beyond the control of Lincoln Electric affect the results obtained in applying...

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