2.2 Schematic system design ....................................................................... 6

3.1 DeviceNet (Integrated version) ............................................................... 7

3.2 Network connection ................................................................................. 7

3.3 DeviceNet network (Integrated version)................................................. 8

3.4 Termination ............................................................................................... 8

3.5 Location of SW1 and SW2 on the welding data board, 24AP1............. 9

4.2.5 24AP6 Fieldbus board - DeviceNet ........................................................ 14

4.2.6 Fieldbus connector ................................................................................. 14

4.2.7 Configuration .......................................................................................... 14

4.2.8 Baud rate................................................................................................ 15

4.2.9 Node address (Mac ID) .......................................................................... 15

4.2.10 LED indicators ........................................................................................ 15

5.1 Regarding U82 .......................................................................................... 17

5.2 Installing W82 ........................................................................................... 17

6.5 Cross reference Integrated...................................................................... 30

6.6 Cross reference Anybus.......................................................................... 32

7.1 Input from controller to welding equipment .......................................... 34

7.1.1 Weld status bits ...................................................................................... 34

7.1.2 Weld data number .................................................................................. 35

7.1.3 Numerical welding parameters............................................................... 35

7.2 Output from Welding Equipment to Controller...................................... 36

7.2.3 Weld Data Number................................................................................. 38

7.2.4 Numerical Welding Parameters.............................................................. 38

9.1 Ordering spare parts................................................................................ 40

Installation must be performed by an experienced person, and electrical work only by a

trained electrician. Use only recommended replacement parts.

This integration manual is intended for use by technicians with electrical/electronic training

for help in connection with installation and integration of robotic equipment with ESAB

products.

Use the spare parts list as a guide to where the components are located in the equipment.

The spare parts list is published as a separate document, see “SPARE PARTS”, page40.

The documentation structure. This manual is the ESAB - ABB integration manual.

This manual is intended to guide a system integrator, when integrating ESAB equipment with

an ABB robotic solution.

Power sources for Integrated system: Mig 5000i / Mig5000iw

Power sources for Anybus system: Mig 5000i / 5000iw, Mig 4004i Pulse, Mig 4002c /

4002cw, Mig 5002c / 5002cw, Mig 6502c / 6502cw

For hollow wrist robots like IRB1520ID, 1600ID and 2600ID it is recommended to use drive

unit RoboFeed 3004HW and electronic unit Feed Control Box 3004HW.

such as robots. The W8

versions:

External CAN bus interface integrated in welding data board 24AP1. DeviceNet

communication is used.

DeviceNet is used to control valves, sensors, I/O units and automation equipment in

industrial automation. DeviceNet communication link is based on a broadcast- oriented,

communication protocol, the Controller Area Network (CAN).

This protocol has I/O response and high reliability even for demanding applications, for

DeviceNet uses the CAN bus with terminating resistors at each end of the bus. The value of

the terminating resistor should be 120 ohm. This should be connected between CAN_H and

CAN_L on the bus. Midpoint is connected to 0 V for the internal CAN bus (0 V_CAN_ext for

the external CAN bus) via a 47 nF capacitor.

Terminating resistors are included in the W8

. They can be connected/disconnected by the

switches, SW1 and SW2. Both the external CAN bus and the internal CAN bus have

terminating resistors mounted.

The installation chapter will describe how to connect the different components. The ESAB

integrated software in the robot controller should be installed by ABB before delivery to the

1. Indicating lamp

Orange indicating lamp - Overheating

2. External CAN and termination option

3. Fieldbus

Connection for communication with robot system

4. Measure

7. CAN to welding power source

Connection for communication with welding power source

8. USB

USB memory connection

same box as the units.

Unpack and install the power source according to the user manual.

Unpack and install the welding torch according to the user manual.

Unpack and install the bobbin holder according to the user manual, refer to the assembly

instruction for Robot Bobbin Kit “RoboFeed 3004HW”.

1. Connection between welding W8

and power source. External CAN to power source.

1. Connection between welding W8

and power source. External CAN to power source.