Heavy Duty IntellIgent MobIle WelDIng & gougIng/CuttIng CaRteSIan RobotSMWR-100

TM

& MWR-350TM

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servorobot.com

COLORVIDEO

CAMERALASER LINESCANNER

Heavy Duty IntellIgent MobIle WelDIng & gougIng/CuttIng CaRteSIan RobotS

MWR-100TM

& MWR-350TM

overviewSERVO-ROBOT is proud to intro duce MWR-100TM and MWR-350TM, two innovative new vision assisted mobile fully programmable welding robots. These three axes robots are capable of welding on any material and joint type and they are also capable of doing automated plasma beveling and cutting. The MWR-350TM model is designed to weld in all positions. The portability of the system allows it to be brought onto large weldments such as ship stiffeners and mining equipment modules, thus reducing the need to move the part within the factory which is expensive and time consuming. The simplicity of the system allows the operator to run several systems simultaneously thus reducing the cost of operation. The integrated laser vision seam tracking system has an embedded color video camera which allows remote teaching and process monitoring thus removing the operator from the hazardous welding area.

TEACH PENDANT

REMOTE MONITORING

LASER-CAMERAAND WELDING TORCH

MWRTM ROBOT

MWRTM CONTROLLER

IDLER CARRIAGE

WELDINGPOWER SOURCE

WIRE FEEDER

MWRTM

sysTeM configuRaTion

COLORVIDEO

CAMERAColor 3D/2D scan of weld

LASER LINESCANNER

servorobot.com

ROBOTIC WELDING INSPECTION SYSTEMPOWER-SCAN

TM

COMPaCT WELD BEaD INSPECTION SYSTEMPOWER-SCAN

TMI

NS

PE

CT

IO

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servorobot.com

COMPaCT WELD BEaD INSPECTION SYSTEM

fEaTuRES aND BENEfITS

SYSTEM DESCRIPTIONThe POWER-SCAN

TM system is composed of a 3D laser vision camera head (POWER-CAMTM

family), an industrial control

unit (POWER-BOXTM

) and a software package (WELDSURETM

) to perform the inspection of the weld bead.

• Fully integrated system with laser-camera, control unit and software.

• Very compact control unit with flexible communication interface.

• Immune to the Arc Welding processes (spatter, heat, etc.).

• Not affected by ambient lighting conditions.

• Can inspect welds of any materials.

• Very rugged laser-camera frame.

• Pressurized air flow nozzle designed to protect disposable lens against dust and fume.

• High-speed digital laser-camera allows for scanning speed up to 6 meters/minute (235 inches/minute).

• Informs the robot or PLC when a defect is detected.

• Displays the part inspection results on a user-friendly 3D graphical interface.

• Saves all the inspection data available in the on-board database.

• Checks joint fit-up.

• Measures weld shape/geometry.

• Detects weld defects.

• Allows for 100% control of the parts produced.

• Eliminates manual inspection.

POWER-BOXTM

control unit

Monitoring software package

POWER-SCANTM

– iNSPECTiON SySTEM

POWER-CAMTM

laser-camera

mounted on robot

BADGOOD

POWER-SCAN

TM

PO

WE

R-

SC

aN

TM

EaSY INTEGRaTION

Interfaces:• DIGITAL I/O• ETHERNET

TCP/IP• MODBUS

TCP

CUSTOMER PLC

Inspection results:• GO/NO GO

• Defects/types & locations

Inspection control:• Start/Stop

• Task Selection

POWER-BOXTM

CONTROL UNITROBOT CONTROLLER

EaSY CONfIGuRaTION

Select the

inspection template

corresponding to the

part configuration

Groove weld...

Fillet weld

Step 2Step 1 Step 3 Step 4

Align the laser-camera

to make sure the weld

or joint is in its field of view.

Select which

criteria needs to be

monitored and set

the acceptance/

rejection boundaries

3.0 < leg size < 4.5

Throat > 2.5

Undercut < 0.3 mm

Verify that theprofiles obtained are

good in WeldComTM’s

user-friendly

graphical interface

uSER-fRIENDLY MONITORING INTERfaCE

NetSightTM

’s 3D View screen showing a defect NetSightTM

’s detailed screen showing measurements

pOWER-CAMtM pOWER-CAM/HRtM

Fillet weld Groove weld

Leg and Size (l,r) 2 to 50 mm N.A.

Theoretical Throat 2 to 35 mm N.A.

Convexity 0 to 20 mm 0 to 20 mm

Reinforcement N.A. 0 to 20 mm

Undercut (l,r) 0 to 3 mm 0 to 3 mm

Toe Angle (l,r) 90° to 160° 90° to 180°

Mismatch/Hi-Lo N.A. 0 to 6 mm

Beta Angle 30° to 140° 140° to 200°

Face Width N.A. 2 to 55 mm

Porosity, Cracks and Spatter 0.5 to 5 mm 0.5 to 5 mm

WELD INSPECTION

N.A. - Not Applicable

Weld type

Features

COMPLETE PROCESS quaLITY aSSESMENT ThROuGh hIGh

aCCuRaCY 3D LaSER PROfILING TEChNOLOGY

SERVO-ROBOT reserves the right to change product specifications without notice. ©2013 SERVO-ROBOT Inc., All Rights Reserved. Printed in China. TPOWSC1208E011

sales@servorobot.com

servorobot.comSERVO-ROBOt INC.1370 HOCQUART, SAINT-BRUNO, QUEBEC, CANADA J3V 6E1TEL: +1-450-653-7868 FAX: +1-450-653-7868

VISIBLE LASER RADIATIONAVOID DIRECT

EXPOSURE TO BEAM

Class 3B - IEC 60825-1.2

AlGaInP 130 mW Max Class IIIb - CDRH

LaSER-CaMERa TEChNICaL SPECIfICaTIONS

ARC WELDS INSpECtION

pOWER-CAM pOWER-CAM/HR

Stand-off to camera 70 mm 92 mm

Close plane (Field of view) 27 mm 12.5 mm

Far plane (Field of view) 76 mm 15 mm

Depth of field 140 mm 16 mm

Average depth resolution 0.09 mm 0.025 mm

Average lateral resolution 0.05 mm 0.016 mm

Weight 475 g 500 g

Dimensions (mm) [H x W x D] 94 x 33 x 58 106 x 33 x 58

Best suited for Medium to Heavy Plate Sheet Metal

Integrated color videocamera for monitoring

3 3

• Operating temperature range: 5˚ to 40˚C (41˚F to 104˚F) • Laser : Class IIIb

JOINT INSPECTION

t-Joint Butt Joint (Square, V and Bevel Groove)

Beta Angle 30° to 140° 140° to 200°

Root Opening 0 to 6 mm 0 to 10 mm

Mismatch/Hi-Lo N.A. 0 to 6 mm

Groove Angle N.A. 30° to 90°

Bevel Angle (l,r) N.A. 15° to 45°

Joint type

Features

N.A. - Not Applicable

• Dramatic quality and productivity improvements are easily achieved compared to manual and mechanized welding.

• Mobile so automation can be brought to the workpiece.

• Remote process monitoring removes operator from welding zone.

• Precise seam tracking for consistent penetration and accurate bead placement.

• Easily integrates to any welding system.

• Automated teaching reduces setup time and increases flexibility.

• Multilayer welding.

• Welding parameters can be optimized via the teach pendant.

• The actual tracking profile is visually shown on the color touch screen of the teach pendant.

tyPICal aPPlICatIonS

Mw

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00

-35

0tM

featuReS anD benefItS

SHIPbuIlDIng

RaIlRoaD

MInIng

ConStRuCtIon

4 Extremely easy to use - In less than one hour, you will be welding like a pro.

4 Robot is “sensor ready” - Seam tracking, video monitoring and GPS functions can easily be added.

4 Lightweight cartesian robot with ergonomic teach pendant provides high level of safety for the operator.

4 Perfect for welding in all positions on any type of joint.

4 Rugged robot made to survive in toughest factory environment.

4 Capable of also doing automated plasma cutting and beveling which improves joint preparation quality.

4 Modularity allows robot to be used in conjunction with hard automation arc welding machines to improve their flexibility.

WItH vISIontM SySteM

• Joint Tracking.

• Adaptive control of welding parameters based on joint geometry.

• Vision assisted robot teaching for easy path programming.

QualIty anD PRoDuCtIvIty IMPRoveMentS aRe eaSIly aCHIeveD

Vertical mobile welding robot

PoWeR geneRatIon

MobIle WelDIng RobotS teCHnICal SPeCIfICatIonS

PleaSe ContaCt uS to See HoW ouR MobIle PoRtable WelDIng RobotS Can HelP you SIMPlIfy youR WelDIng autoMatIon PRoJeCtS!

Mwr-100 Mwr-350

HArDwAreWeight 27 kg

Dimensions (excluding accessories) 504 mm Width x 380 mm Height x 351 mm Length

Lateral Axis (Y) Stroke 150 mm

Vertical Axis (Z) Stroke 150 mm

Rail Compatibility Gullco type rails

Load Carrying Capability 45 kg / Flat and horizontal only 160 kg / All positions

Maximum Load on the Y and Z Axes 25 kg

Maximum Travel Speed 2.5 m/minute

Maximum Cable Length 30 m

Torch HolderManually adjustable lead/lag and work angles

– Lead/lag angle: +70 /-15 degrees– Work angle: +/- 15 degrees

Optional Idler Carriage for Wire Feeder and Wire Spool Yes. Can be pulled or pushed

control unit cHArActeristicsDimensions 500 mm Width x 500 mm Height x 200 mm Depth

Weight 27kg

Weaving

Triangular weaveProgrammable width and frequency

3 programmable dwell times: left, center, rightY axis only or perpendicular to the torch axis

Welding Power Source Control Ethernet link for ArcLink™ interface; Analog and Digital I/O (up to 4 control signals) Complete control of the welding process, including voltage, wire feed speed / current, gas, burn back and crater fill

Robot Programming Method Teach & Play programming method with user friendly graphical interface

Path Control Linear interpolation between taught points

Programs Up to 10 programs and 100 positions with welding parameters in each program

Power Failure Protection Automatic configuration recovery after a power failure

Pause/Restart Support Automatic restart after a pause or emergency stop

teAcH penDAnt coMMon cHArActeristicsConnection Can be connected to the robot or the control unit

Display Color touch screen

Safety Emergency stop push button

Backup USB port for program and configuration backup

Monitoring Real-time display of the welding parameters

Cable Standard 2 meters (other length available)

SERVO-ROBOT reserves the right to change product specifications without notice. ©2013 SERVO-ROBOT Inc., All Rights Reserved. Printed in China. TMWRVS1308E01

sales@servorobot.comservorobot.com

servo-roBot inc. 1370 Hocquart, St-Bruno Quebec, CANADA J3V 6E1Tel.: +1-450-653-7868Fax: +1-450-653-7869

COMPLETE SOLUTION FOR JOINT TRACKING AND ADAPTIVE PROCESS CONTROL DESIGNED FOR SPECIAL WELDING MACHINES

AUTO-TRAC/ITTM

ARC

WEL

DING

servorobot.com

• Fully integrated standard system with laser-camera, control unit, actuators, teach pendant and software.

• Large selection of laser-sensors available to support specific processes and joint types.

• Immune to the Arc and Laser processes (spatter, heat, etc.).

• Not affected by ambient lighting conditions.

• Can track on any weldable materials including aluminum.

• Pressurized air flow protects disposable lens against dust and fume.

• High speed digital laser-sensor allows for fast and reliable joint recognition.

• Extensive to use with all industrial joint preparations.

• Automatic joint recognition.

• With the use of the teach pendant, the axes position can be taught the same way as a robot.

• Adaptive process control firmware interface directly with the welding equipment.

• High speed, high accuracy rugged actuators for precise torch positioning.

COMPLETE SOLUTION FOR JOINT TRACKING AND ADAPTIVE PROCESS CONTROL DESIGNED FOR SPECIAL WELDING MACHINES

AUTO-TRAC/ITTM

FEATURES AND BENEFITS

AUTO-TRAC/ITTM

SYSTEM

ROBONET/MASTERTM

ROBONET/DRIVETM

GROUND FAULT VIDEO SCREEN

WELDCOMTM HMI

CUSTOMER PLC

LASER-SENSOR

INTERNET

FACTORY AIR IN

VIDEO CABLE

TEACH PENDANT

INTE

RNET

CAN

-OPE

N

SAFETY LINKS

LASER-SENSOR CABLE AIR

HOSES

ETHERNET

COOLING CONTROL

Z ACTUATOR (Drive and Encoder)

I/O OR FIELDBUS

X-Z ACTUATORS

ENCODER

COOLING UNIT

AIR FILTER KIT

TEACH PENDANT

Y ACTUATOR (Drive and Encoder)

X AXIS ENCODER

TYPICAL APPLICATIONS• Fuel Tanks

• Pressure Vessels

• Bridges Structures

• Shipbuilding

• Wind Tower Turbines

• Water Heater Tanks

• Railway Car

• Pipe (Spiral and UO pipe)

EXCLUSIVE FUNCTIONSAUTO-TRAC/ITTM is available for any joint preparation ranging from sheet metal tight butts to heavy plate complex grooves.

The system drives motors with encoders thus providing in real time the current position of the welding torch in space. This provides to the system the possibility to be taught like a robot.

In addition, the encoders allow one to generate the proper trajectory while tracking, taking into account the travel speed, the position of the camera related to the torch and the current positions of the torch. The end result is a good weld that meets the most stringent quality requirements.

The presence of encoders allows memorization of the joint trajectory which is a very useful tool to evaluate the part deviation that can be played back in multipass welding application. This also allows to monitor the part preparation to improve the quality.

AUTO

-TRAC

/ITTM

ROBONET/DRIVETM brushless servo driver

High-speed actuators (See complementary document)

ROBONET/MASTERTM process control unit

EASY OPERATIONOperation is made by the operator or by the PLC through an I/O interface. The operator uses the teach pendant to set-up and select the sequence, perform calibration and jog axes. In addition, the teach pendant always provides the system status to the operator. With the teach pendant, the axes position can be taught the same way as a robot.

Teach pendant

AUTO-TRAC/IT TM CONTROLLERSThe AUTO-TRAC/ITTM main controller is the ROBONET/MASTERTM. It is a powerful processing unit that manages the system sequence, the laser-camera profiles processing, the trajectory computation and the process adaptive control. A CAN-Open interface links it to the ROBONET/DRIVETM controller which is driving the axes. Up to 3 axes can be driven and a fourth one such as a positioner, roller or gantry can be read.

The system offers various possibilities to be interfaced with PLC’s and different welding power sources through Digital I/O, analog signals or field bus.

Taught Points

Laser-sensor finding and action

Laser-Camera

Servo-Robot reserves the right to change product specifications without notice. ©2011 Servo-Robot Inc., All Rights Reserved. Printed in Canada. TAUTTR0618E05.2

sales@servorobot.com servorobot.com

LASER-CAMERAS TECHNICAL SPECIFICATIONS

ARC WELDING LASER WELDING

DIGI-I/S MINI-I/D QUANTA/SP QUANTA/SP-350 QUANTA QUANTA/LFStand-Off from nozzle 5.6 mm 5.5 mm 47.5 mm 93.9 mm 98.8 mm 93.8 mm

Close plane (Field of view) 23 mm 27 mm 48 mm 66 mm 8.1 mm 15.6 mm

Far plane (Field of view) 45 mm 76 mm 88 mm 194 mm 8.6 mm 17.6 mm

Depth of field 65 mm 140 mm 120 mm 350 mm 6.5 mm 16 mmAverage depth resolution 0.075 mm 0.09 mm 0.05 mm 0.23 mm 0.008 mm 0.015 mm

Average lateral resolution 0.035 mm 0.05 mm 0.07 mm 0.13 mm 0.009 mm 0.017 mm

Weight 600 g 475 g 800 g 800 g 800 g 800 gDimensions (mm) 113 x 62 x 34 108.1 x 58 x 33.3 113 x 145 x 40 113 x 145 x 40 113 x 145 x 40 113 x 145 x 40

Best Suited For Sheet Metal Heavy Plate Heavy Plate Very Heavy Plate (Pressure Vessels)

Tailored Welded Blanks TIG Welding

• Environment : 5˚ to 40˚C (41˚F to 104˚F) • Laser : Class IIIb

MINI-I/DTMDIGI-I/STM QUANTA/LFTMQUANTATMQUANTA/SPTM QUANTA/SP-350TM

TRACKING AND MONITORING SYSTEMSIN ONE PRDUCT!