Generate the arc welding program
Purpose
A second welding robot will be introduced to cooperate with the first one.
Load the prepared workcell delivered with this tutorial into the project. The welding operations are distributed and programmed on two robots, then synchronized. Use the Arcwelding_CooperatingRobots_Base.cendoc project from the Projects folder of this tutorial library.
Steps
1. Program the first robot
1.1 Program the welding path.
Program a welding path
1.2 Modify the workpiece positioner.
Use the Teach dashboard to rotate the workpiece positioner so the robot can reach position P003 of the welding path.
Modify the workpiece positioner
1.3 Modify the toolpath element orientation.
Use the Teach Manipulator to modify the orientation of position P003 to avoid collision.
Modify the toolpath element orientation
1.4 Simulate the toolpath for the first robot.
Simulate the toolpath
1.5 Add the Start synchronization event.
Add the Start synchronization event at the approach position P001 of the toolpath.
Event Start synchronization
1.6 Add the End synchronization event.
Add the End synchronization event at the retract position P005 of the toolpath.
Event End synchronization
2. Program the second robot
2.1 Program the second welding path.
Switch to the second robot and program a similar welding path on the other workpiece.
Program a welding path
2.2 Add the Start synchronization event.
Add the Start synchronization event at the approach position P001 of the toolpath.
Event Start synchronization
2.3 Modify the toolpath element orientation.
Use the Teach Manipulator to modify the orientation of position P003 to avoid collision.
Modify the toolpath element orientation
2.4 Add the End synchronization event.
Add the End synchronization event at the retract position P005 of the toolpath.
Event End synchronization
3. Simulation
3.1 Simulate the complete synchronized program.
Simulate the program
4. Save the project
4.1 Save the project as a .cendoc document.
Save the project as document