【英03-2】【2018.01】TAWERS (TSTMTL-WGⅢ) (E)

6 Axis Articulated Arc Welding RobotsTAWERS SeriesJanuary 2018Continuously Evolving TAWERS!Separate TypeTS seriesThrough-Arm TypeTM seriesExternal TypeTL series

Robot Systems withIntegrated WeldingPower Source TechnologyTorch type selectable to fit your application!WGⅢ/WGHⅢTM11001400160018002000TM seriesTM-1400WGⅢSeparate TypeThrough-Arm TypeExternal TypeSuperior wire feedability and Focused on reducing cablereduced cable interferenceinterferenceSpace saving & high payload!Long-arm & high TL seriesTS seriesTS-950Payload8 kgTS-800/950External TypeFocused on wire feedabilityPayloadTL-1800: kgkgTL-2000: kg86Through-Arm TypeExternal Type Manipulator Lineup (as of January 2018)TS seriesTM series8009501100140016001800200018002000Separate Through-Arm External 8 kg6 kgPayload8 kg6 kgRated Welding Output:WGⅢ: 350 A @ 80 % duty cycle (CV). 350 A @ 60 % duty cycle (pulse).WGHⅢ: 450 A @ 100 % duty cycle (CV/pulse)1TL series4 kg6 kg

A variety of features specialized for arc weldingFeaturee1( TM/TL )EnhancedBasic PerformanceFeaturee3( TM/TL )Structure Specialized for WeldingClean Cable Management!Increased Motion SpeedTM-1400: Speed of main 3 axes increased by 22 % on average.(approx. 42 /s more than TA type)[Option]Internal Flexible Conduit(for wire feed)**Extended ReachTM-1400: 1 437 mm (63 mm more than TA type)Featuree2(TS/TM)Manipulator-Controller cable(control)Arm Specialized for WeldingManipulator-Controller cable(motor power)Cantilever StructureWelding power cablemakes arm compact andimproves accessibility toworkpieces.[Option] Internal FlexibleConduit (for wire feed)**Gas hose(with valve)**For use with drum packing wire only.In addition to Through-Arm Type and External Type,A third choice̶Separate Type (TM series)Revolutionary new type of arc welding robot withadvantages of both Through-Arm Type and External Type.FeatureeHigh Wire FeedabilityLess Cable Interference1 External Flexible ConduitconduiitFlexible conduitR largeTorch cableR small[Separate Type]Gentle curve of flexible conduitbetween wire feeder and torchbody achieves stable wire feeding.[Conventional Type]Featuree2Through-Arm Power Cable[Conventional Type]InterferencePower cable interference can occurdepending on thewelding position.[Separate Type]Through-arm powercable reduces cableinterference.ReducedinterferenceAn example of circumferential weldingSuppressestwist of wire!Reduces target position errorat weld start and end points!New type welding robot achieveseven higher quality welds.2

Robot Systems withIntegrated WeldingPower Source Technology"Weld Navigation" allows easy parameter settingStandardEasy setting with Teach PendantTwo Easy Steps:①②1. Select weld joint. The figurechanges according to the joint.Note: Screens are subject to changewithout notice.2. Select plate thicknesses.That's all!Note: Torch angle and aiming point also calculatedRich welding parameterdatabase developedthrough our long experienceThe right parameters automaticallyLeg length and weld speed are also adjustable.Weld Navigationrecalculates weldcurrent and voltageaccording to thechanges."Weld Navigation"reduces parametersetting time.Notes: ・Parameters by Weld Navigation are guideline only and do not guarantee welding result.・Consult us for material and processes available with Weld Navigation.WGⅢ controller with high performanceCompared to the conventional model, 6 times faster mainCPU and 4 times more memory capacity reduce start-uptime by 50 % toabout 30 seconds.WGⅢWGHⅢImproved maintainabilitySwivel rack in the case makesmaintenance easy and saves space.Cables with connectors on bothends reduce Cable exchange time.Swivel rack3Cables with connectors on both ends

TAWERS Technology―Various Welding Processes・SP-MAGⅡ for short-circuit mixed gaswelding on thin plates・HD-Pulse for high-speed and low-spatterin high-current pulsed mixed gas welding・MTS-CO₂ for CO₂ weldingTAWERS Welding Process GuideMAG weldingStandardNote: 1.2 mm mild steel wire used for this guide.SP-MAG II︵ cm/min︶Weld speedSuper Active MAGActive MAGHD-PulseSecondary switching and SP/HScontrol achieve stable arc and lowspatter welding.Low spatterin low-currentrange80HD-PulseSP-MAG IIShort-circuit transfer (1 pulse-1 dip)minimizes undercuts in high speedwelding.Low spatterand high speed inhigh-current range40Normal-PulseShort-circuit transfer range(Dip transfer range)80180CO₂ weldingSpray transfer range220280Normal-PulseDroplet transfer (1 pulse-1 drop)achieves low spatter.Weld current (A)StandardNote: 1.2 mm mild steel wire used for this guide.MTS-CO2︵ cm/min︶Weld speedSuper Active CO2Active CO2MTS control added to SP-MAGtechnology reduces spatter of CO₂welding.180Low spatter inlow-current rangeNormal CO2MTS-CO280Low spatter inhigh-current range260320Weld current (A)Super Active Wire Feed ProcessAchieves even lower spatter withhigh-precision control of wire feed speed.Super Active MAGSuper Active CO2See the page ofSuper Active TAWERS for details.4

TAWERS Technology―Various Welding Processes・SP-MAGⅡ for short-circuit mixed gas welding on thin plates・MTS-CO2 for CO2 weldingSP-MAG II(Super-imposition Control)Greatly reduces spatter in mixed gas (MAG) welding on thin platesWelding waveform control achieves lowspatter in short-circuit transfer range. Spatter generation（MAG）100 Spatter comparison (1 minute at 200 A)Conventional welder (350GB2)75TAWERS（SP-MAG Ⅱ）50Spatterreduction90 % spatterreduction at 150 A（compared with 350GB2）RecommendedPanasonic wireYM-50MT used.350GB2SP-MAG Ⅱ250SP-MAG Ⅱ current waveform150 A200 A250 A① Initial short-circuit controlShort-circuit cycle (conventional mixed gas welding)Detects initial short-circuit and then the secondary switching* circuit reducesweld current rapidly to prevent micro-short circuit that causes spatter.Short-circuit cycle (SP-MAGⅡ)④② Neck controlDetects a neck of the droplet and then the secondary switching* circuitreduces weld current rapidly to prevent fuse effect that causes spatter.CurrentDotted line:Conventionalmixed-gas welding② ③ After arc ignitionInitial ①③ HS controlSuppresses weld pool oscillation and prevents micro-short circuit that causesspatter.short-circuit Short circuit release④ SP controlNeck①Fuse effect②③④Micro-shortcircuitConventional mixed-gas weldingWeld pooloscillationMTS-CO2SP-MAG ⅡSuperimposes the current immediately after a short-circuit release and allowsfor higher wire-melting speed. This makes the next short circuit smooth andalso makes the short-circuit cycle shorter.*Secondary switching is the spatter reduction process that rapidly reduces weldcurrent immediately before and after shot-circuit and allows for smooth transitionsbetween arc and short circuit.（Metal Transfer Stabilization Control）Reduces spatter by up to 75 % using inexpensive CO2 gasMTS control added to SP-MAG technology reduces spatter of CO2 welding.CO2 welding delivers uniform pan-bottom shaped penetration. Spatter generation（CO2）Penetration comparison10075500.9 mm Conventional CO₂75 % spatterreduction at 150 AMTS-CO₂350GB2MTS-CO₂MTS-CO₂1.1 mm50.9 mm（compared with 350GB2）250Conventional CO₂ process (350GB2)1.1 mm・Joint: Fillet ・Base metal: 2.3 mm mild steel SPCC ・Weld current: 120 A150 A200 A250 A・Weld speed: 0.3 m/min ・Wire: YGW12 (1.2 mm) ・Shielding gas: CO2

TAWERS Technology―Various Welding Processes・Normal pulse for ultra-low spatter welding・HD-Pulse for high-speed and low-spatter weldingHD-Pulse（Hyper Dip-Pulse Control)Achieves high-speed pulsed weldingShort and narrow arc prevents undercuts during high-speed welding. HD-Pulse advantages: High speed weldingHD PulsePreventing undercuts duringhigh speed welding.Normal PulseUndercutGap:0.4 mmDip (Short circuit) transferenabling lower heat input withbetter gap handling capability.UndercutPrecisely controlled dip timingreducing spatter.Gap:1.5 mm・Base metal thickness: 2.3 mm ・Weld current: 300 A ・Weld speed: 1.1 m/minPreventing undercuts with ideal penetration! Type of the droplet transferNormal PulseHD Pulse1 dip by 1 pulse (Short-circuit transfer)ShortNarrow1 drop by 1 pulse (Drop rated arc Spray transfer range: 280 A or moreWeld processSP-MAG xcellentgoodPenetration lentHeat inputfairfairgoodGap handlingfairfairgoodOverallfairfairexcellentWeld speedSpatterSP-MAG Ⅱ disadvantage:Spatter in high-current range.Normal-pulse disadvantage:Undercuts in high-speed welding.HD-Pulse process is ideal forhigh-current and high-speed welding.6

External Communication（Ethernet）Lift Start / Lift EndProduction and Quality Control on LANThe LAN connectionallows you to sharewelding data withother robots andimprove productionand quality control.Quality Weld Starts and Ends.Spatter and Cycle Time Reduction.The robot lifts up the welding torch quickly at the startand end of the weld. By coordinating the robot motionwith the welding waveform and wire feed control, qualityand cycle time are improved.(Much quicker than wire retraction.)Lift StartSpatterReductionAt arc startFlying StartExecutes arc-on/off programs a little before the torchreaches the weld start/end point to reduce cycle times.ContactLifting upLift EndCycle TimeStandard Arc StartReductionAt arc endCycle time reductionWeld start pointWire feed startFlying StartCycle TimeReductionArc is struckthe moment torchreaches weld start point.Wire feed startLifting upArc startWeld start pointArc startArc Start Retry (for CO₂/MAG)Detecting a failure of arc start, the robot automaticallystarts arc ignition again.Failure of arc startArc re-startWire Auto RetractAs the robot moves to weld start points, the wire isretracted automatically; thereby, improving arc start.End of a weldWire retractionMoving towardnext weld pointNext weld pointMoving toward next weld pointTorch Angle Display (Teach Pendant)Torch angle is displayed on the screen, making it possibleto reduce teaching time and obtain consistent beadappearance.Wire Stick Auto Release (for CO₂/MAG)Automatically detects a wire stuck at the end of aweld and re-ignites the arc to release the wire.Pitch Movement ("Jog settings")This function enables robot movement at a pre-setdistance by every click ofthe jog dial. This is usefulwhen working in narrow,constricted spaces or infine-tuning robot position.7Program TestIn Teach mode,operator can safelyverify taught programincluding weldingwithout switchingto Auto mode.