Abicor Binzel ROBiPAK User manual

TECHNOLOGY FOR THE WELDER’S WORLD.
www.binzel-abicor.com
Thank you for choosing ROBiPAK from ABICOR BINZEL
This step-by-step guide will allow you to install and use your ROBiPAK on Universal Robots.
ROBiPAK
Forinstallationon
UniversalRobots

The ABICOR BINZEL system solution ROBiPAK for air and liquid cooled welding applications consists of the
complete welding equipment including welding torch, torch holder, flange and cable assembly as well as the
powersource iROB.
■ Torch: ABIROB®A360 or ABIROB®W500 (for liquid cooled package only) with 10 contact tips,
10 gas nozzles and 10 contact tip holders
■ Gas diffuser (liquid cooled only)
■ The power source iROB comes with the iROB-Spool, the wire feeder, the intermediate hose package and
the iControl. The package also includes 4 wire feed rolls and a ground cable. The liquid cooled package
also includes the cooling device iROB.
■ Ready to weld: A PLC with switch, power supply and pre-installed PLC-software for ROBiPAK is also part
of the package.
Package contains folders with all necessary manuals and an USB-Stick with the URCap and the installation-file
for the UR robot
■ Mount torch holder on robot
■ Mount spiral into the cable assembly of the iROB
■ Mount torch on adapter of cable assembly
■ Install contact tip holder, contact tip and gas nozzle into the torch and ensure tightness
■ Mount cable assembly on Euro-Connector of the iROB
Supplied
Package
Manuals/
Software
Setup of the
Power Source
Mounting
on UR
Cable Assembly
M5
screws
M4
screws M6
screws
Flange
Tip
holder
Gas
nozzle
Torch Contact Tip
Complete the following steps using the manuals of the iROB:
■ Install wire feed rolls and ensure cleanliness and right postion
■ Install ground cable and ensure tightness.
■ Connect the gas to the wire feeder
■ If liquid cooled system is used: connect the coolant hose with the cable assembly and fix the wire coil into
the basket coil carrier
■ Thread welding wire into cable assembly and torch
Check right laying of the cable assembly and the ground cable without coil
windings. This influences the welding process essentially.
2
ROBiPAK
Step-by-Step Guide

Set up the power supply
for the power source,
the switch, the robot and
the PLC.
Connect all devices with
the switch using LAN
cables.
Communication
and Software
Switch off Ethernet
connections in robot
settings and ...
Connections
3
ROBiPAK
Step-by-Step Guide

Initialize robot with
installation file
<robipak_msg_en>
from the USB-Stick.
If already an installation
file is used, which should
not be replaced, the TCP,
Payload and center of
gravity can be set manu-
ally or using the data on
page 7. Please ensure,
that the settings are cor-
rect. Using the wrong
data can cause damage
to the torch and the robot.
Install URCap
from USB stick
Communication
and Software
... switch on Profinet
4
ROBiPAK
Step-by-Step Guide

Define a MoveA-Com-
mand with a homepositi-
on and a beginning
point for welding (and
optional waypoints
inbetween)
Put the URCap
<Start welding> into the
program tree
Define welding path
using MoveP or MoveL
Put the URCap
<Stop welding> into the
program tree
Put the URCap
“Welding Parameters”
into the programm tree
and define the welding
parameters
My first welding
program
5
ROBiPAK
Step-by-Step Guide

Test the welding
program by choosing
test mode in
→ Installation
→ iROB (no arc)
Define a MoveA
command with the
homeposition (and
optional waypoints
inbetween)
Weld by switching test
mode off
Please note, that the speed slider will automatically go to 100% speed when
you run a program.
My first welding
program
6
ROBiPAK
Step-by-Step Guide

Used registers on Universal Robot
Boolean input register 0,3
Boolean output register 2, 4, 5, 7, 8, 15, 16, 17
Integer input register 1,2,3
Integer output register 0, 1, 2, 3
Float input register not used
Float output register 0, 1
TCP
TCP of air cooled torch
x= 439 y= +7
TCP of liquid cooled torch
x= 470 y= 0
Used registers on
Universal Robot
Tool center points
Total payload (approx.)
with air cooled torch 2.2 kg
with liquid cooled torch 2.6 kg
Total payload
Center of gravity (approx.)
CX= 0,00 mm
CY= -150.00 mm
CZ= 200.00 mm
Center of gravity
7
ROBiPAK
Step-by-Step Guide

TECHNOLOGY FOR THE WELDER’S WORLD.
www.binzel-abicor.com
Alexander Binzel Schweisstechnik GmbH & Co. KG
Kiesacker · 35418 Buseck · GERMANY
T +49 64 08 / 59-0
F +49 64 08 / 59-191
[e-mail]
PRO.R175.EN • Bi-12.19 • Printed in Germany • © Copyright . All trademarks in this broschure are property of the respective companies.