User manual
6 OPERATION
0463 373 101
- 57 -
© ESAB AB 2018
6 OPERATION
ATENȚIE!
Before starting the system, check the whole installation according to the
manufacturer's instructions and applicable safety regulations.
Check the following to make sure that the system has been installed correctly:
1. Are all parts securely attached (torch, torch mount, flanges, safety-off device, cable
assembly, and wire feeder cabinet)?
2. Are all media hoses connected correctly and protected from damage?
3. Is the EURO central connector or direct connector fastened tightly?
4. Is the cable assembly length correct and suitable for the installation and can the cable
rotate freely? The cable must not be bent sharply. Any risk of the cable getting caught
on another object must be eliminated.
5. Is the control cable of the safety-off circuit connected and functioning? Move torch by
hand to test (RTKSC-2 and RTKS-2 only).
6. Is the torch firmly attached and is it completely equipped?
7. Is the wire guide installed according to the manual?
8. Are all lines and tubes arranged so that they cannot be damaged or bent?
The wire run-in can now be started, either via the wire run-in pushbutton or via the wire run-in
at the feeder.
6.1 Important information for programming (hollow wrist system
only)
Fast rotation of axis 6 of the robot will significantly stress the cable assembly. In certain
cases, this can lead to damage or destruction of the cable. In order to maximize the lifetime
of the cable, we strongly suggest respecting the following limitations when programming the
robot.
Position of axis 5 Max. rotational speed of axis 6
0 – 60° 100 % (no limitations)
60° – 80° 300°/sec (approximately 50 % of max. robot speed)
> 80° 120°/sec (approximately 20 % of max. robot speed)
NOTĂ!
The above values are only indications. For information on the exact rotational speed
limits, refer to the individual robot manual or contact the robot supplier.
To reposition the torch quickly, the robot arm may have to be slightly extended first to achieve
a bending angle of max. 60° of axis 5. In this position, the maximum available rotation speed
of axis 6 can be used.
When using the ESAB Helix cable assembly, the max. rotation of ±270° from the neutral
position must not be exceeded.