Purpose
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After setting up the workcell with the car body assembly that is going to be welded, the programs can be generated, optimized and simulated.
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The spot welding positions will be programmed in separated groups. Examples will show how the computed toolpath can be modified using the manual teach capabilities, changing attribute values and recalculating the toolpath.
The results then are simulated.
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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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Preparation
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1.1
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Switch to the Offline Programming workbench.
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2
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Unit setup
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2.1
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Check that the spot welding technology has been set for the robot.
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2.2
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Set the base and tool frame as active.
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3.1
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Create a first home position by using the simple teach method. A new robot program will be automatically created and the OLP dashboards at the right side of the 3D View are enabled.
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3.2
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The perspective view might be helpful to navigate in the 3D world.
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3.3
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Program the first welding operation. You can select multiple points at a time or select them one by one having the ctrl key pressed.
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4.1
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Change to the Events and teach work environment. Then move the robot along the rail to reach the first point.
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4.2
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Simulate the program to get a first impression.
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4.3
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Check the program issues.
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4.4
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Modify the gun orientation on the welding positions to avoid collisions. Define the correct robot configuration.
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4.5
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Interpolate between first and last welding position to create a smooth motion of the welding gun. The tangent optimization (orientation around tool vector) will be used in this case.
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4.6
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Insert tool positions before the first welding operation to define the approach of the gun.
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4.7
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Insert tool positions after the last welding operation to define the retraction of the gun.
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4.8
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Simulate the program. There should be no collisions anymore.
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5
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Technology optimization
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5.1
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Activate the simulation to open and close the gun at the welding position.
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5.2
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Include the gun rotation during the welding operation.
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6.1
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Navigate over the toolpath with use of the Teach dashboard.
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6.2
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Verify the velocities, TCP coordinates and joint values in the Simulation monitor.
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7.1
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Generate the program to be downloaded to the robot controller.
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7.2
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The program file(s) are stored at the location that is specified in the controller of the workcell.
If needed, these files have to be copied to another location.
Verify the location of the program file
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Switch to the Controller Builder workbench.
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Verify the downloader output directory.
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8.1
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Save the project under an appropriate name.
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