Purpose
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The kinematic capabilities of external equipment is used to optimize the programming and to reduce the robot axis motion.
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The prepared workcell, built from the components of several previous steps, is loaded into the project. The welding operations are programmed. The program will be optimized by interpolating the kinematic axes of the external equipment.
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Steps
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Be sure to save your changes frequently.
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1
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Load the workcell
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1.1
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Open the workcell ArcWelding_ExternalAxis_Base.cendoc file from the Projects folder of this tutorial library. This document includes the complete project setup that is need for the tasks to execute in this chapter.
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2
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Involve the robot rail in the program
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2.1
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Program the welding path.
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2.2
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Modify the rail position so that the robot can reach the approach position of the toolpath.
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2.3
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With use of the Teach dashboard the rail will be moved so that the robot can reach the end position of the welding path.
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2.4
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Simulate the path with the rail motion.
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2.5
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Change the number of toolpath positions along the welding path. The approximation attributes determine this number of positions.
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2.6
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Add an interpolation of the rail position along the path to generate a smooth motion of the rail.
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3
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Involve the workpiece positioner in the program
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3.1
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Program the circular welding path.
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3.2
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With use of the Teach dashboard, modify the workpiece positioner 's angle for the robot to reach the welding path approach and end position. After that simulate the result.
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3.3
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Change the number of toolpath positions along the welding path. The approximation attributes determine this number of positions. Then add an interpolation of the workpiece positioner along the path to generate a smooth rotation of it.
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4.1
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Simulate the program.
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5.1
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Save the project as a .cendoc document.
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