ArcWelding OM 3HAC028931-En

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Operating ManualArcWelding PowerPac


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Workspace Main version a80

Checked in 2014-10-08

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Operating Manual

ArcWelding PowerPac

RobotStudio 6.0

Document ID: 3HAC028931-001

Revision: M

Copyright 2007-2014 ABB. All rights reserved.


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The information in this manual is subject to change without notice and should notbe construedas a commitment by ABB. ABB assumes no responsibility foranyerrorsthat may appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued as any kind of guarantee or warranty by ABB for losses, damages topersons or property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB'swritten permission.Additional copies of this manual may be obtained from ABB.The original language for this publication is English. Any other languages that aresupplied have been translated from English.

Copyright 2007-2014 ABB. All rights reserved.

ABB ABRobotics ProductsSe-721 68 Vsters

Sweden


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Table of contents

7Overview of the manual ....................................................................................................................

91 Introduction and installation91.1 Introduction to ArcWelding PowerPac ....... ........ ........ ....... ........ ........ ........ ....... ......

101.2 Installing ArcWelding PowerPac ....... ........ ........ ....... ........ ........ ........ ....... ........ ......111.3 Accessing the user interface ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ ..131.4 Concepts .........................................................................................................

152 ArcWelding ribbon tab

152.1 Overview .........................................................................................................202.2 Creating group ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ ........ .....212.3 Virtual Controller group ........ ....... ........ ........ ....... ........ ........ ........ ....... ........ ........ .232.4 Task group .......................................................................................................262.5 Synchronize group ....... ........ ........ ........ ....... ........ ........ ....... ........ ........ ........ .......272.6 Freehand group ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ ........ ....... ....

293 ArcWelding browser

293.1 Overview .........................................................................................................303.2 Task node ........................................................................................................333.3 Templates ........................................................................................................333.3.1 Application templates ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ ..363.3.2 Weld shape templates ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... .393.3.3 Search templates ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... .......403.3.4 Tool properties template ........ ........ ....... ........ ........ ........ ....... ........ ........ .....413.4 Part programs ..................................................................................................413.4.1 Part programs node ....... ........ ........ ....... ........ ........ ........ ....... ........ ........ ....483.4.2 Process path ....... ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ .....533.5 Setup and service procedures ........ ........ ........ ....... ........ ........ ........ ....... ........ .......

594 ArcWelding path view

594.1 Overview .........................................................................................................604.2 Instruction icons ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ ..634.3 The Path View toolbar ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ ........ ...654.4 Shortcut menu ..................................................................................................664.5 The Create menu ........ ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... .664.5.1 Overview ...............................................................................................674.5.2 Create Weld ....... ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ ......784.5.3 Create Weld instruction ....... ........ ........ ........ ....... ........ ........ ........ ....... .......804.5.4 Create Air instruction ........ ........ ........ ....... ........ ........ ........ ....... ........ ........ .824.5.5 Create ABS joint target ........ ........ ....... ........ ........ ........ ....... ........ ........ .......844.5.6 Create an Action instruction ............. ........ ....... ........ ........ ........ ....... ........ ...

854.6 The Modify menu ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ . 854.6.1 Modify instruction ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... .......864.6.2 Modify target ........ ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ ....884.6.3 Modify Jointtarget / External Axes ... .... .... .... .... .... .... ... .... .... .... .... .... .... .... ... .894.6.4 Multi-Selection Operations ........ ........ ........ ....... ........ ........ ........ ....... ........ ..

1014.7 The Configuration menu ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ ........1014.7.1 Check Reach ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... .....1024.7.2 Set Configuration ........ ........ ....... ........ ........ ........ ....... ........ ........ ....... .......1054.8 The Options Menu ........ ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ .......1084.9 Export/Import Process Section ....... ........ ....... ........ ........ ........ ....... ........ ........ .......1084.9.1 Overview ...............................................................................................1094.9.2 Export process section ....... ........ ........ ....... ........ ........ ........ ....... ........ ........1124.9.3 Import process sections ....... ........ ........ ....... ........ ........ ........ ....... ........ ......

3HAC028931-001 Revision: M 5 Copyright 2007-2014 ABB. All rights reserved.

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1175 Searching with SmarTac

1175.1 Overview .........................................................................................................1195.2 Importing search templates ........ ....... ........ ........ ....... ........ ........ ........ ....... ........ ....1215.3 Tool properties ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ ....1245.4 Create Search instruction ....... ........ ........ ....... ........ ........ ........ ....... ........ ........ ......

1276 ArcWelding PowerPac workflow

1276.1 Overview .........................................................................................................1286.2 Building an ArcWelding station ........ ........ ....... ........ ........ ........ ....... ........ ........ ......1286.2.1 Creating an ArcWelding station .............. ........ ........ ........ ....... ........ ........ .....1296.2.2 Creating an ArcWelding system ........... ........ ........ ....... ........ ........ ........ .......1306.3 Creating paths ....... ........ ........ ....... ........ ........ ....... ........ ........ ........ ....... ........ ......1316.4 Verify and modify ........ ........ ....... ........ ........ ........ ....... ........ ........ ........ ....... ........ .1326.5 Synchronize .....................................................................................................1336.6 Load program to real controller ........ ....... ........ ........ ........ ....... ........ ........ ........ ......

135Index

6 3HAC028931-001 Revision: M Copyright 2007-2014 ABB. All rights reserved.

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Overview of the manual

About this manual

This manual describes how to use ArcWelding PowerPac to create arc weldingprograms offline. It also explains ArcWelding PowerPac terms and concepts.

Usage

This reference manual contains general and specific information about theArcWelding PowerPac tools and workflow.

Who should read this manual?

This manual should be used by anyone working with ArcWelding PowerPac.

Prerequisites The reader should have a basic knowledge of:

RobotStudio

RAPID

Welding process

References

Document IDReference

Operating manual - RobotStudio3HAC032104-001

Application manual - MultiMove3HAC021272-001

Revisions

DescriptionRevision

First revision.A

Editorial changes.B

The graphical user interface is different from the old version.CAdded a section describing the new components of the user interface.

Added information about new functions, for example, multiple circular seg-ments, path exporting and importing.

D

Minor corrections.EUpdated the changes related to the path view toolbar and context menu:

Optimize Targets Save As View Enable Log

F

Editorial changes.G

Continues on next page




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DescriptionRevision

Released with RobotStudio 5.15 Updated the information on Save As . SeeElements on the ArcWelding

ribbon tab on page 16andSaving a program on page 21.

Updated the screenshot of ArcWelding ribbon tab. SeeArcWelding rib-bon tab on page 15.

Added information on Virtual Arc. SeeElements on the ArcWeldingribbon tab on page 16andTask group on page 23.

Updated the screenshot of the user interface. SeeThe user interfaceon page 11.

H

Released with RobotStudio 5.15.01 Added information about the Freehand tool group in the sectionEle-

ments on the ArcWelding ribbon tab on page 16.

Added the new sectionFreehand group on page 27.

J

Released with RobotStudio 5.60 Added information about theMoveJ-MoveLbutton in the section Path

View toolbar on page 63. Updated the sectionCheck Reach on page 101.

K

Released with RobotStudio 5.61 Updated the sectionTask node on page 30.

Updated the sectionCreating a part on page 42.

L

Released with RobotStudio 6.0 Updated the sectionData Manager on page 23.

M



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1 Introduction and installation

1.1 Introduction to ArcWelding PowerPac

About ArcWelding PowerPac

ArcWelding PowerPac is a dedicated tool for generating arc weld programs inRobotStudio. Utilizing the CADgeometry as the basis forall robotics programming,you can define weld locations and create robot positions. This method, known asgeometry-based offline programming, gives you unprecedented control over theweld angles, resulting in improved quality.

About Virtual Arc

Integrated with ArcWelding PowerPac, Virtual Arc can be used to select weld

parameters. Virtual Arc is launched from ArcWelding PowerPac by selecting theProperties page of an Application Template. Virtual Arc is installed separately fromthe ArcWelding PowerPac installation media. For details, see the Virtual Arc userdocumentation.

Note

VirtualArc is available only with the 32 bit version of ArcWelding PowerPac 5.60.

About this chapter

This chapter will guide you through the installation process, which consists of

these steps: Installing ArcWelding PowerPac on page 10.

Accessing the user interface on page 11.

Prerequisites

The following are the prerequisites for installing:

RobotStudio installed on your computer,which fulfils thesystemrequirements

ArcWelding PowerPac installation package

A license certificate

A log on account with administrator rights on the computer



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1.2 Installing ArcWelding PowerPac

Overview

To be able to install ArcWelding PowerPac, RobotStudio must be installed on yourcomputer.

Installing ArcWelding PowerPac

To install the ArcWelding PowerPac, follow these steps:

1 Browse to ArcWelding PowerPac installation package and double-clickSetup.exe.

The installation page opens.

2 ClickInstall ArcWelding PowerPac.

The installation starts.

3 Read the License Agreement and accept the terms.

4 ClickInstall.

5 When the installation is finished, complete the installation wizard by clickingFinish.

Installing a License

Follow the procedure of installing a license as in RobotStudio.



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1.3 Accessing the user interface

Overview

Before you can start using ArcWelding PowerPac, you must load a RobotStudiostation that includes at least one arc-welding robot. The virtual controller (VC)associated with the arc-welding robot must be loaded with RobotWare Arc.

Loading a station

To initially open a station, follow these steps:

1 Open RobotStudio and create a new station with an existing system. In theSystems Foundlist, clickArc.

2 On theAdd-Instab in the ribbon, select ArcWeldingfrom thePowerPacsgroup.

A dedicated tab for ArcWelding is added to the ribbon.The ArcWelding tree structure browser opens.

3 Expand the tree structure of the ArcWelding browser and right clickPartPrograms. Then clickCreate part. In the dialog box, click OK.

4 Right click the created path and clickOpento open the path view.

The user interface

The panes and windows of the user interface, described in the following figure,help you to create a well-structured arc-welding program.

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DescriptionItem

Contains the general functions for arc-welding process.ArcWelding ribbon-tab

1.SeeArcWelding ribbon tab on page 15for detailed descrip-tion.

Organizes the components of the station in a tree structure.ArcWelding browser2.SeeArcWelding browser on page29for detailed description.




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DescriptionItem

Categorizes and linearly maps the targets.Path view3.SeeArcWelding path view on page59fordetaileddescription.

Dialog boxes created from the Path View.Tool window4.Enables you to create new instructions and modify existinginstructions.

The graphics window is coordinated with these panes: a pathhighlighted in the browser, is highlighted with the same colorin the graphics window. A simulation appearing in thegraphics window is represented in the path view by a robotcursor stepping through the path in the path view.

Graphics window5.

This coordination is especially useful when working withMultiMove systems.The graphics window is an important source to input geometrytargets. By clicking on the part models in the window, youcan create or modify a target in the geometry space.



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1.4 Concepts

Reference Coordinate System (RCS)

In ArcWelding PowerPac, every robtarget is associated with a local referencecoordinate system called Reference Coordinate System (RCS).

RCS is primarily used to help create and manipulate targets in RobotStudio. Asworkobject/UCS, RCS can be used to set the target location and angle.

Usually a target'sRCS accommodatestheshape of thepart geometry. For example,for weld targets along a seam, the RCS positions are along the seam, the x axisdirections are along the path direction, and the z axis directions are along thenormal vector of theweld surface. Thus, instead of entering target values in relationto a world coordinate or a work object, you can specify offsets and angles relativeto the RCS, which have a more direct space relationship between robot targets

and the welding seam.

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Application templates

An application template in ArcWelding PowerPac is a collection of templates forprocess parameters, weld targets, instruction arguments, and so on. It specifiesthe information needed to createa complete weld on the part.ArcWelding PowerPacis installed with default application templates, such as ProcessAsMoveand

ArcDefault.

Generic data

Besides default RAPID data types, such as robtarget and tooldata, PowerPacs

also uses other data types. These are called generic data.




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In ArcWelding PowerPac, some process related data, such as welddata, seamdata,and weavedata are supported.



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2.1 Overview

Overview

The ArcWeldingribbon tab contains thecontrols forcreatingpaths, virtual controlleroperations, modifying ArcWelding PowerPac data, using freehand tools, changingthe coordinate system, and help information.

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Elements on the ArcWelding ribbon tab

DescriptionButtonGroup

Opens a dialog box to insert a new part nodeinto the tree structure and createsan empty path.

Part Program

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Create

Only available when the Part Program node ora part node is selected in the ArcWeldingbrowser.

Note

You can access this function also from the Ar-cWelding browser by right-clicking the Part Pro-grams node. SeePart programs node on page41for the definition for part program.

Inserts a new path node into the tree structure.

Not available on an open path.

Process Path

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Only available when a part node or a path nodeunder the part node is selectedin the ArcWeldingbrowser.

Note

You can access this function also from the Ar-cWelding browser by right-clicking the ProcessPath node.

SeeProcess path on page 48for the definitionfor process path.

Inserts a new path node into the tree structure.Setup Path

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Onlyavailable when theSetup Procedures nodeor a path node under theSetup Procedures nodeis selected from the ArcWelding browser.

Note

You can access this function also from the Ar-cWelding browser by right-clicking the SetupProcedures node.

SeeSetup and service procedures on page 53for the definition for setup path.

Inserts a new path node into the tree structure.Service Path

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Only available when the Service Procedures

node or a path node under the Service Proced-ures node is selected in the ArcWeldingbrowser.

Note

You can access this function also from the Ar-cWelding browser by right-clicking the ServiceProcedures node.

SeeSetup and service procedures on page 53.

Opens a dialogbox to selectsequential adjacen-tedges from the CAD model to represent a free-form path, and saves the path data into a XMLfilewhich will be used to create a free form cut-

tingpath in the future steps.Always available.

Path Section




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Save Program: Saves thecurrent programin the virtual controller.The program is saved to a predefined dir-ectory. Under the systems home direct-ory, a specific folder is created to storethe RAPID programs for every task in thesystem.The folder name is:Station name"_"Task

name.For example, for the taskT_ROB1in sta-tionIrb140_250A_RW_5_11, its storingdirectory isHOME\Irb140_250A_RW_5_11_T_ROB1.

Save As: To change the directory of thesaved program, selectSave Asoption.This will open a window asking for thenew directory to savethecurrent program.

Save Program

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Virtual Controller

Opens an dialog box to set the synchronizationsettings.

Options

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Overwrites the current program in the virtualcontroller with an empty one.

Initialize Program

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Task

Opens the Data Manager dialog box, which listsall the related data in the current station.

Data Manager

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Only available when the task node is selected inthe ArcWelding browser.SeeTask group on page 23for the detailed de-scription of data manager.

All the available welding cases in the Virtual Arcwill be displayed. Select any one of them, to openthe Virtual Arc window.

Note

Virtual Arcis available only with the 32 bit ver-sion of ArcWelding PowerPac 5.60.

Virtual Arc

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Click Synchronize to RAPID to synchronize theselected program on the browser to the virtualcontroller

Synchronize toRAPID

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Synchronize

Tools in theFreehandgroup allows you tomanage the movement of the robot, manage theview of the robot system, and to select the co-ordinate system.

- TheToptool displays the top view

of the station with reference to the selec-ted coordinate system.

- TheFronttool displays the frontview of the station with reference to theselected coordinate system.

-The Right tool displaysthe right view

of the station with reference to the selec-ted coordinate system.

- TheReference Co-ordinate System drop-down listbox allowsyou to select the required coordinatesystem.

- TheMovetool allows you to drag

an item relative to the active referencecoordinate system.

-The Rotate tool allowsyou to enable

rotation around the various axes of anobject determined by the reference co-ordinate system.

- The Jog Joint tool allows you to jogthe different axes of a robot.

- TheJog Lineartool allows you to

jog within the coordinate system definedby the active tool.

- TheJog Reorienttool allows you to

enable the rotation of the TCP.

Freehand tools

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Freehand






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Provides the following information: Contents, the help file

About ArcWelding, version information

ArcWelding Help

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Help





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2.2 Creating group

Overview

All the functions in the Creategroup are available in the ArcWelding browser.

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Part Program

Click Part Program to open a dialog box to createa new part program.See Creatinga part on page 42for the detailed description.

This button is available only when the Part Programnode or a part node is selectedin the tree structure.

Process Path

ClickProcess Pathto insert a new empty path node into the tree structure.

This button is available only when a part node or a path node under the part nodeis selected.

Setup Path/Service PathClickSetup Path/Service Pathto open a dialog box to create a new setup path orservice path. SeeCreating Setup/Service Paths on page 130.

This button is available only when the Setup/Service Procedures node or a pathunder the Setup/Service Procedure node is selected.

Path Section

ClickPath Sectionto open a dialog box to select sequential adjacent edges fromthe CAD model to represent a free form path, and saves the path data into a XMLfile which will beused to create a free form cutting path in the future steps. This

button is always available.



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2.3 Virtual Controller group

Overview

The functions in this group are related to the virtual controller.

Saving a program

After synchronization, RAPID programs are stored in virtual controller. You canaccess these programs from the Offline tab of RobotStudio. For more information,seeOperating manual - RobotStudio. You can also save the programs as files onyour PC, which makes it possible to load them to other controllers, or real IRC5controllers.

ClickSave Programto save the programs in virtual controller as files. The RAPIDprograms are saved under "HOME" directory of the system folder.

Note

When savinga program to files, theRAPID program stored in thevirtual controlleris saved. To save modifications in the station, first synchronize them to the virtualcontroller, and then click Save Program.

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Options

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ClickOptionsto open a dialog box, which contains the following options:

DescriptionItemGroup

Synchronization option.Enable RC Mode

If selected, this option is enabled for all the tasksin the current station.It means that for variables that already exist inthe virtual controller, synchronization will notoverride them. Only new variables will be cre-ated.

Defines how theuser message will be displayedon the FlexPendant.

Production ManagerSettings (FlexArc sta-tion needed) These options are available only when Produc-

tion Manager is installed in the current system.

User messages on FlexPendant are shown.Press OK on the FlexPendant to hide the mes-

sage and continue with running programmedprocedures.

Show User Mes-sages

User messages on FlexPendant are shown fora specified delay time. After that, the messageautomatically hides itself, and youcan continuewith running the programmed procedure.

Auto Reply to UserMessages

Specifies the delay time in the Auto Delay Timebox.

User messages are not shown, and procedureskeep on running.

Bypass User Mes-sages

Only availablewhen theAutoReply to User

Messagescheckbox is selected.

Auto Delay Time

Specifies a timeduring which theuser messages aredisplayed on theFlexPendant.



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2.4 Task group

Overview

The functions in this group are related to the active task.

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Initialize program

When you want to clean up the RAPID programs in the virtual controller, click

Initialize Programto load an empty program to the virtual controller to overwritethe current one.

Data Manager

ClickData Managerto open the Data Managerwindow.

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When you select a data from thedata list, thecorresponding attributes, forexample,value, express, and so on, are displayed on the right side. In theData Managerwindow you can:

Compare the data in the station with the date in the virtual controller.

Synchronize data from the virtual controller to the station.

Modify data other than default, such as seamdata, trackdata, and weavedata.

Note

When a station value is modified the corresponding argument name becomesbold and an * symbol is added next to its name indicating that the highlightedargument is not saved. You have to click the Applybutton to save the changes.




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Note

For data that is just created but not shown in the virtual controller, you can specify

the type in virtual controller when synchronizing. The type can be Persistent,TaskPersistent, Constant, orVariable. For the data that is already shownin the virtual controller, this function is disabled.

Note

Only data of the type other than robtargetand jointtargetcan besynchronized from the data manager using the left and right arrow buttons.

Virtual Arc

ClickVirtual Arcto display all the available welding cases. Select any one of themto open theVirtual Arcwindow.

Note

Virtual Arc is available only with the 32 bit version of ArcWelding PowerPac 5.60.

Modify data

To modify data withData Managerwindow, follow these steps:

1 Select a task node from the ArcWelding browser and clickData Managertoopen theData Managerwindow.

2 Click the+signs to expand the modules.3 Click the data that you want to modify.

A Data editor opens where you can view the data expression. In Data editor,you can modify the synchronize reference, the storage class in RAPIDprograms, and the values of the data itself.

4 Modify the data.

5 ClickOKto make the changes take effect.

Each data item has a classification that is used to define in which modules datashould end up in the virtual controller. The data classification will be used to setthe module name property when the data is synchronized to the virtual controller.

Sync as Inline Data: This selection is only available for jointtargets androbtargets. The data will not be declared but included in the instruction.

Sync to Program Module: The default setting for most data. The data willbe synchronized to the same module as the procedure where it was used.

Sync to Process Data Module: Default setting for data such as welddata.The data are synchronized to the module defined as Process Data Module,See task properties.

Sync to Calibration Data Module: Default setting for data such as tooldata.The data are synced to the module defined as Calibration Data Module, Seetask properties.




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Sync to Module: Name of the procedure to where the data are synced. Noupdate is done during synchronization.

Note

TheStorage Classselection is enabled only if data does not exist in the virtualcontroller; otherwise it uses the storage class of the data in the virtual controller.



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2.5 Synchronize group

Overview

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Synchronize ensures that the RAPID program in the system, running on the virtualcontroller, corresponds to the programs in ArcWelding PowerPac. You can

synchronize data both from the station to the virtual controller and from the virtualcontroller to the station.



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2.6 Freehand group

Overview

Freehand group allows the user to to manage the movement of the robot usingfreehand tools, manage the view of the robot system, and select the coordinatesystem from the ArcWelding tab.

The following figure and table provides you information regarding different elementsin the Freehand group.

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DescriptionButton nameLabel

Allows you to drag an item relative to theactive reference coordinate system.

Move1

Allows you to enable rotation around the

various axes of an object determined by thereference coordinate system.

Rotate2

Allows you to jog the different axes ofa robot.Jog Joint3

Allows you to jog within the coordinate sys-tem defined by the active tool.

Jog Linear4

Allows you to enable the rotation of the TCP.Jog Reorient5

Displays the top view of the station with ref-erence to the selected coordinate system.

Top6

Displays the front view of the station withreference to the selected coordinate system.

Front7

Displays the right view of the station with

reference to the selected coordinate system.

Right8

Allows you to select the required coordinatesystem.

Reference Coordinate System9

Using the options in the Freehand group

IntroductionThefollowing sections provide information regardingusing the tools in the Freehandgroup.

Moving an item1 In theLayoutbrowser, select the item you want to move.

2 ClickMove.




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3 In the graphics window, click one of the axes and drag the item into position.

Rotating an item1 In theLayoutbrowser, select the item you want to rotate.

2 ClickRotate.

3 In the graphics window, click one of the rotational rings and drag the iteminto position.

If you press the ALTkey while rotating, the item will snap 10 degrees at atime.

Jogging the joints of a robot1 In theLayoutbrowser, select the robot you want to move.

2 ClickJog Joint.

3 Click the joint you want to move and drag it to the preferred position.

If you press the ALTkey when jogging the joints of the robot, the robot willmove 10 degrees at a time. If you press the fkey, the robot will move 0.1degree at a time.

Jogging the TCP of a robot1 In theLayoutbrowser, select the robot you want to move.

2 In theFreehandgroup, clickJog Linear. A coordinate system is displayedat the TCP of the robot.

3 Click the axis you want to move and drag the TCP to the preferred position.

If you press the fkey while jogging the robot linearly, the robot will move

with a smaller step size.Reorienting the TCP rotation

1 In theLayoutbrowser, select the robot you want to reorient.

2 In theFreehandgroup, clickJog Reorient.

An orientation ring appears around the TCP.

3 Click the orientation ring and drag the robot to rotate the TCP to the preferredposition.

The X, Y, and Z orientation appears with units.

Note

If you press the ALTkey while reorienting, the robot moves by 10 unitsand if you press the Fkey, it moves by 0.1 unit.

Note

The behavior of orientation differs with the different reference coordinatesystem (World, Local, UCS, Active Workobject, Active Tool).



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3.1 Overview

Overview

The tree structure of the ArcWelding browser provides an overview of thecontrollers, robots, templates, and programs.

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At the top you find several tabs, one for each virtual controller, here namedFlexArc250R_M.

Each virtual controller can subsequently run up to four robot nodes, here namedT_ROB1, T_ROB2, and T_POS1.

A predefined structure of templates, part programs, and setup and serviceprocedures is found under each robot node.



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3.2 Task node

Overview

You can access the shortcut menus for the task node (top node) in the ArcWeldingbrowser by right-clicking the task node.

Shortcut menus from the task node

DescriptionDialog Box Ele-ments

Menu

Allows you to specify the following properties for theselected task:

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Properties

From the options selected in the virtual controller,the system determines the application suitable tothe robot type. If the robot is for arc welding, an ap-propriate move and action instruction set will be im-ported to the station.

Application

This optional property adds a procedure before thefirst seam of every part program. This is usually thestarting point for the first seam, ensuring that therobot can actually move to the first instruction in thefirst seam.

Default Move toHome Procedure

This optional property puts all workobjects andtooldata in the specified module when synchronizingwith the virtual controller. You can map it to a specificRAPID module in the virtual controller.

Calibration DataModule




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DescriptionDialog Box Ele-ments

Menu

This mandatory property puts all processdata, suchas weld, weave, and seam data, in the specifiedmodule when synchronizing with the virtual control-ler. You can map it to a specific RAPID module inthe virtual controller.

Process Data Mod-ule

This optional property sets the colorused to highlightopen paths in the ArcWelding browser and the pathview.

Default Path Color

The check boxes of this group have the same func-tions as blocking in the virtual controller RobotWareArc application. This is useful during the testingphase.

ArcWelding Pro-cess Blocking

SeeApplication manual - Arc and Arc Sensor.

Synchronizes with all the targets and instruction in

the same line. It has the following options: Air Targets/Joint Targets: Synchronizes allAir and Joint Targets present in the path pro-cedure as inline.

Search Targets: Synchronizes all SearchTargets present in the path procedure as in-line.

Approach and Depart Targets: Synchronizesall Approach and Depart Targets present inthe path procedure as inline.

Process Targets: Synchronizes all ProcessTargets (Weld Start, Via, Weld End, and soon) present in the path procedure as inline.

Sync as Inline Set-

ting

Refreshes thebrowser to reflectchanges in the pathview.Refresh

Imports predefined action instructions.Import ActionInstruction

Imports predefined move instruction descriptions.Import Move In-struction De-scription

Imports predefined move instructions.Import Move In-struction

Synchronizes the entire task to the virtual controller.

Note

Since theSynchronize to RAPIDis available fromthe shortcut menu in ArcWelding PowerPac, theSynchronize to virtual controller function in Robot-StudiosHometab is disabled.

Synchronize toRAPID

Import action instruction/Move instruction description

Some default move instructions are always available in the controller after theRobotStudio and ArcWelding PowerPac are installed.

To use instructions other than default, it is necessary to tell RobotStudio how theseinstructions should be handled.




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Follow these steps to import instructions:

1 Right-click a task node and click Import Action Instruction/Import MoveInstruction Description/Import Move Instruction. A dialog box opens.

2 InLook in, browse to the location where you stored the instruction files(*.xml).

3 Select the desired file and click Open to import the selected file to the currenttask.



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3.3 Templates

3.3.1 Application templates

Overview

An application template is a collection of process parameters and instructionsettings that define the properties of a weld, such as seamdata, welddata,weavedata, and trackdata.

The application template is used to set process parameters on a weld, when theCreate Weld function is executed. SeeCreate Weld on page 67for detaileddescription.

Shortcut menus from the Application Templates node

DescriptionMenuNode

Imports predefined application tem-plates.

Import...Process

Allows you to view and modify theproperties of an application template.

Properties...

Creates a copy of a selected applica-tion template.

Create Copy

Saves the selected application tem-plate to disk.

Save...

Deletes the selected application tem-

plate.

Delete

Importing an application template

The application templates are based on several instructions. For example, theProcessAsMovetemplate includes instructions for MoveL, MoveJ and MoveC.These default move instructions are always available in the virtual controller. The

Arc Defaulttemplate (included in the ArcWelding PowerPac installation) usesinstructions such as ArcL and ArcC. These are available in a virtual controllerinstalled with the optionArc.

1 Right-click the process node and clickImport. In theImport ApplicationTemplatedialog box, select the corresponding template and click Open.

2 An error message appears if the underlying instructions for the template arenot found in the controller. In this case, RobotStudio must be told how theseinstructions should be handled. This should be done manually in theInstruction Template Managerin RobotStudio or by importing a predefineddescription file.

If the template is successfully imported, the related process definitions willbe automatically added into RobotStudio. Do not manually modify or deleteany of these process definitions in the Instruction Template Manager.

Modifying application templates

1 In the ArcWelding browser, right-click a template and clickPropertiestoopen a dialog box.




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2 Modify any values. To store your changes without closing the dialog box,clickApply. To store your changes and close the dialog box, click OK. Toclose the dialog box without storing any changes, click Cancel.

Application template properties

In the ArcWelding browser, right-click a template and click Propertiesto open adialog box.

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DescriptionSection

A data field for entering a text description of the application template.

This information is not transferred to the RAPID code.

Description

Optional.Process ParametersThe values can be obtained from a Virtual Arc case, or manuallymodified. If selected, the property values is used as target settings inCreate Weld.For more details, see Create Weld on page 67.

A list of Virtual Arc cases will be displayed here. If Virtual Arc softwareis installed on the same computer, the button Edit Caseis enabled.

Virtual Arc CaseName

Click this button. Virtual Arc opens with the selected case.

Note

Virtual Arcis available only with the 32 bit version of ArcWeldingPowerPac 5.60.

An application template is associated with a RobotStudio base processdefinition file. The definition file contains all the instruction templatesused by the application template, and is imported into RobotStudioby ArcWelding PowerPac.

Base RS ProcessDefinitions

Usually youdo notneed to changetheassociation between an applic-ation template and a definition file. However if such a case occurs,you can select a different definition here, export the application tem-plate and import into ArcWelding PowerPac again.




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DescriptionSection

Templates section.TemplatesSettings for RAPID instructions. Instruction parameters (for example,

motion type, speed, zone) will be set for all targets depending on thetarget classification.If an argument is generic data, a Create new...appears in the drop-down list. If selected, a dialog box opens to create a new data of thistype.An edit button beside the generic data is also available.Clicking the button starts the Data Editor, where sync properties anddata values can be modified. See Task group on page 23for moreinformation.

Target classification

The following figure illustrates a typical sequence of targets.

en1200000382

Weld targets will be assigned with process parameters in accordance with one ofthe following classifications:

DescriptionTarget

Intermediate target between welds. Generates a MoveJ orMoveL instruction, depending on the motion type.

Air Move

The first target before a weld. Generates a MoveJ or MoveLinstruction, depending on the motion type. Is connected to thefollowing Process Start target, so that the orientation alwaysfollows the process start point with a variable approach dis-tance.

Approach Move

The first target in a weld. Generates an ArcLStart instruction,activating the weld process.Process Start

The intermediate target in a weld. Generates an ArcL or ArcCinstruction, depending on the motion type.

Process Via

The last target in a weld. Generates an ArcLEnd or ArcCEndinstruction, depending on the motion type, deactivating theweld process.

Process End

The first target after a weld. Generates a MoveL instruction. Itis connected to the preceding Process End Target, so that theorientation always follows theprocess endpoint with a variabledepart distance.

Depart Move



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3.3.2 Weld shape templates

Overview

A weld shape template is a collection of weld parameters. The selected applicationtemplate is used to set the weld parameters on a weld during creation. SeeCreateWeld on page 67for using templates in weld creation.

Default weld shape templates

DescriptionObject

Click the geometry where the weld should start.Start Point

If linear, click the geometry where the weld should end.End Point

If circular 3 point, click the geometry where the weld shouldend.

If circular X segments, click the geometry along the circularedge after the Circ Point.

Click the geometry along the circular edge, between the StartPoint and the End Point.

Circ Point

Click the geometry exactly on the corner, between the StartPoint and the End Point.

Corner Point

DescriptionObject

Offset distance of path in relation to RCSs three axes. Usefulto avoid collision detection between the wire and part.

Offset X, Y, Z

Angle from Process Start target to Process End target. Thethree values correspond to Work Angle. Push/Drag (TravelAngle), and Spin Angles. See the illustration inCreate Weldon page 67.

Angle X, Y, Z

Offsetdistance of Approach target in relationto the RCS's threeaxes. Since Approach target's RCS is at the same position asProcess Start target, the offset also specifies the distancebetween the two targets.

Approach Offset X, Y, Z

Offset distance of Depart target in relation to the RCS's threeaxes. Since Depart target's RCS is at the same position asProcess End target, the offset also specifies the distancebetween the two targets.

Depart Offset X, Y, Z

One linear segment

en1200000309

Spin AnglePush / DragWork AngleOffset X, Y, ZClassificationIndex

90045(0,0,0)Start Point1

90045(0,0,0)End Point2




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Two linear segments

en1200000310



90045(0,0,0)p2290045(0,0,0)p33

90045(0,0,0)p44

90045(0,0,0)End Point5

Two linear segments (with radius corner)

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90045(0,0,0)Start Circle2

90045(0,0,0)End Circle3

90045(0,0,0)End Point4




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Circular segment

en1200000311

Spin AnglePush / DragWork AngleClassificationOffset X, Y, ZIndex

90045Start(0,0,0)1

90045End(0,0,0)2

Multiple circle segments

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90045(0,0,0)Start Circle2

90045(0,0,0)End Circle3

90045(0,0,0)End Point4



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3.3.3 Search templates

Overview

A search template is a collection of search instructions.When the needed instruction descriptions are available in the station, you canimport and use the search template to create search instructions.

SeeSearching with SmarTac on page 117for detailed information.



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3.3.4 Tool properties template

Overview

Since the tool model in RobotStudio differs from the tool in reality, ArcWeldingPowerPac must know the geometry of the activated tool to be able to calculatecorrect torch angles based on the search parameters.

SeeSearching with SmarTac on page 117for detailed description.



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3.4 Part programs

3.4.1 Part programs node

Overview

The Part Programs node is an owner of a part program.A part program is equivalentto a program module in RAPID (.mod). In the RAPID module, the part program istranslated into a general RAPID procedure, which includes calls to other RAPIDprocedures in a sequence, where each procedure equals to a process path in thepart program.

Shortcut menus from the Part Programs node

DescriptionMenuNode

Inserts a new part node into the treestructure and creates an empty path.

Create Part ProgramPart Pro-grams

NOTE!You can access this functionalso from the ArcWelding ribbon-tab.

Imports XML part files. A dialog boxopens for specifying import reference,tool, workobject, part name, pathname, module name, and so on.

Import Part Program

SeeImporting a part program onpage 45for detailed description.

Modifies the properties of part pro-gram with a dialog box. The content

is the same as in the Create PartProgramdialog box.

PropertiesPart

Inserts a new part program node intothe tree structure and creates anempty path.

Create Part Program


Inserts a new path node into the treestructure.

Create Process Path


Synchronizes the selected part (and

all included paths) to the virtual con-troller. Not available if any path in thepart program is open.

Synchronize to VC

Deletes the selected node.Delete

Export part program into an XML file.The default name of the file consistsof the task name and the part name.A dialog box opens for specifying theexporting reference frame.

Export Part Program

SeeExporting a part program onpage 44for detailed description.




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DescriptionMenuNode

Import an XML part file into station, asa part program. A dialog box opensfor specifying import reference, tool,workobject, part name, path name,module name, and so on.

Import Part Program

SeeImporting a part program onpage 45for more description.

Import XML path file into this part, asa process path. A dialog box opensfor specifying import reference, tool,workobject, path name and modulename.

Import Path

SeeImporting a path on page 50formore description.

Creating a partTo create a part in a part program, follow these steps:

1 In the ArcWelding browser, select the Part Programs node or a part programnode, right-click it and click Create Part Program..., or clickPart Programin the ArcWelding ribbon-tab to open a dialog box.

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2 Enter all theneeded information andclick OK. If any RAPID names are invalid,clickingOKwill not close the dialog box.

DescriptionObject

Enter a name for the new part program.Part Name

Get automatic update when entering a new part name.Module Name

If selected, the created part program will also include apartdata. The information in the partdata is a collection ofinputs in the following two fields.

Include Part Data

Get automatic update when entering a new part name.Part Data - Description

If the module is loaded from the file system, this text spe-cifies the directory.

Part Data - Load fromDirectory

Select tasks in which the created part program runs. Thisis useful when used in a MultiMove program.

Run in tasks

Select the stations for which this part data will be valid.The values should be numbers from 1 to 8.Valid on Stations

A unique integer number to indicate the part program IDin PLC code.

PLC Code

The partdata can be bound to an advanced path data.Advanced Part Data

Select an image for the created part program. This imagecanbe shown on Production Manager of theFlexPendant.

Image File

Select a path that runs before the created part program.Path Before

ClickAddto add new empty paths for the part program.You can also rename the new paths here.

Path List

Select a path that runs after the created part program.Path After

Overrides the task sync inlineproperties. When this optionis selected Sync as Inline Setting is enabled for the selec-ted part procedure.

Override Parent SyncInline Properties

After entering all the needed information, you can view the new part programin the tree structure of ArcWelding browser. If the part program is selectedto be run in multi-tasks, a new part program node with the same name willbe created under each task. This is very useful when used in a MultiMovestation.






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Exporting a part program

To export a part program into an XML file, follow these steps:

1 In the ArcWelding browser, select the Part Programs node or a part program

node, right-click it and click Export Part Programto open a dialog box.

en1200000335

2 Specify a name of the file and a directory to store.

The default name of the file is "Part_"+Task name+ "_" + Part name.

The default directory is under"/My Documents/RobotStudio/Stations".

3 ClickSaveand a dialog box opens.

4 Check the data and clickOK. The XML file will be saved.

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DescriptionObject

Describes the name of the part, the station, and the task.Read-only.

Description

The directory where the file is stored. Read-only.Path

The name of the saved file.File Name

A reference where the path targets in the part program arerelated to. This affects the position and rotation values ofthe targets. Thereferences canbe WorldCoordinate, UserCoordinate System, robot base coordinate, or work objectcoordinate.

Reference Frame

The included paths to be exported are listed here. Besidespaths in the selected part, service paths are also listed, incase you want to export service procedures together withthe part program. Check the service procedures that youwant to export together.

Included Path

Importing a part program

A file can only be imported as the same object as it was exported. A part can onlybe imported as a part.

To import a part XML file into the station, please follow the steps:

1 In the ArcWelding browser, select the Part Programs node or a part programnode, right-click it and click Import Part Programto open a dialog box.

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2 Select a part program file to import and clickOpen. A message box openstelling if a wrong type of XML file is selected.

If a wrong type of XML file is selected, a message is shown.

If a right type is selected, a dialog box opens.






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3 Check the data and clickOK. The XML file will be imported.

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DescriptionObject


Description

Used when the part program is exported. Read-only.Exported WithReferenceFrame

A reference to import part program. This affects the posi-tion and rotation values of the targets. The references canbe World Coordinate,User Coordinate System, robotbasecoordinate, or work object coordinate.

Import Reference Frame

Select the check box to create a new copy of the includedProgram Module data; otherwise, old data will be refer-enced.

Create New ProgramData

Select the check box to restore configuration status of theincluded targets to when they were exported. Otherwise,the configuration status is re-set to undefined.

Restore ConfigurationStatus

NOTE!This is a lazy function. Make sure that the targetsare indeed of the same configuration status.

The tool for the part program. If left blank, the tool fromthe file will be used.

Tool

Select workobject for targets in the part program. If leftblank, the workobject from the file will be used.

WorkObject

The synchronized RAPID module of the part program.Module Name

The name of the imported part.Path Name

The name of the process paths in the part.Process Paths Names






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NOTE! The following rules apply when creating new data and importing XMLfiles:

If the data is of program data typeSync to Program Module, new

names will be created automatically, unless theCreate New ProgramDatais unchecked.

If the data is of another type, such asSync to Process Data Module,new data will only be created if it is not present in the station. Forexample, a welddata wd1 that is synchronized to the process datamodule will not be created again when importing. The old data wd1will be used instead.





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3.4.2 Process path

Overview

Process Paths are listed in the ArcWelding browser under the part programs. Asa component of a part program, a path is a holder of welds in a sequence. Eachweld includes a list of targets that constitute a continuous path. Paths can bedragged from one part to another; similarly, the order of paths in a part can berearranged.

Note

A process path created in theArcWelding browser is also visible in the Elementsbrowser. During synchronization with the virtual controller, the path is translatedinto a RAPID procedure.

Shortcut menu from the Process Path node

DescriptionMenuNode

Opens the path in the path view. Notavailable on an open path.

OpenPath

Inserts a new path node into the treestructure. Not available on an openpath.

Create Process Path


Synchronizes the selected path to thevirtual controller. Not available on anopen path.

Synchronize to VC

Export a path into a XML file. The de-fault name of the file consists of taskname and path name. A dialog boxopens for specifying the exportingreference frame.

Export Path

SeeExporting a path on page 49fordetailed description.

Import a path XML file into the currentstation as a processpath. A dialog boxopens for specifying the importing

reference frame, tool, workobject,module, and path name.

Import Path

SeeImporting a path on page 50fordetailed description.

With a check mark to indicate that theselected path is visible.

Visible

Not available on an open path.

Closesan open path, removing it fromthe path view. Only available on anopen path.

Close




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Creating process paths

There are three ways to create process paths:

Add paths to the path list from the Create Part Program dialog box.

Right-click a part program node and clickCreate Process Path. Click a part program node or a process path node, and clickProcess Path

in theCreategroup of the ArcWelding ribbon-tab.

Creating welds

To add welds to a path, first open the Path View by right-clicking a process pathnode and clickingOpen.

SeeCreate Weld on page 67for the detailed description of how to add welds tothe Process Path.

Exporting a pathTo export a path into an XML file, follow these steps:

1 In the ArcWelding browser, right-click a path, andclick Export Path. A dialogbox opens. Specify the name of the file and the directory to store.

The default name of the file is "Path_"+task name+"_"+path name.

The default directory is under"/My Documents/RobotStudio/Stations".

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2 ClickSaveand theExport Pathdialog box opens.




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3 Complete the dialog box and clickOK. The XML file will be saved.

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DescriptionObject

Describes the name of the path, the station, and the task.Read-only.

Description

The directory where the file is stored. Read-only.Path

The name of the saved file.File Name

Select a reference that the path targets in the path are re-lated to. This affects the position and rotation values ofthese targets. The references can be World Coordinate,User Coordinate System, robot base coordinate, or workobject coordinate.

Reference Frame

The included paths to be exported are listed here. Besidesthe selected path, service paths are also listed, in caseyou want to export service procedures together with theselected path.Check theservice procedures that youwantto export together.

Included Path

Importing a path

To import a path XML file into the station, follow these steps:1 In ArcWelding browser, right-click a path, and selectImport Path. A dialog

box opens.






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Specify a path file to import and click OK. A message box opens telling if awrong type of XML file is selected.

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2 ClickOpenand theImport Pathdialog box opens.

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DescriptionObject


Description

Reference used when thepart program is exported. Read-only.Exported With ReferenceFrame






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DescriptionObject

A reference to import part program. This affects the posi-tion and rotation values of these targets. The referencescan be World Coordinate, User Coordinate System, robotbase coordinate, or work object coordinate.

Import Reference Frame

Select the tool for the part program. If left blank, the toolfrom the file will be used.

Tool

Select workobject for targets in the part program. If leftblank, the workobject from the file will be used.

WorkObject

The synchronized RAPID module of the part programModule Name

The name of the imported part.Path Name

3 Complete the dialog box and clickOK. A new path will be imported.

NOTE!The rules about creating new data are the same as described in

Importing a part program on page 45.





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3.5 Setup and service procedures

Overview

The setup and service procedure nodes provide holders for motion paths thatneither fit into a part program nor include welds. Forexample,most stations requirea path for moving the robot to its home position.

Further examples of setup and service procedures for an arc-welding systeminclude motion paths for the following:

To and from the home position and the BullEyes TCP calibration device(service procedure)

To and from the home position and the torch cleaner device (serviceprocedure)

To and from the home position and the service station (service procedure)

Including targets for frame definition of the IRBP positioner (setupprocedure)

Including targets for TCP definition with the BullEyes TCP calibration device(setup procedure)

After downloading these procedures to the robot controller, each procedure willbe visible in the production manager menu system on the FlexPendant.

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Shortcut menus from the Setup Procedures node

DescriptionMenuNode

Inserts a new setup path node in the tree structure.Create Setup PathSetup Proced-ure NOTE!You can also access this function from the Ar-

cWelding ribbon-tab.

Import a path XMLfile into station asa setup path.

Import Path

Modifies the properties of setup path with a dialog box.The contents of the dialog box are the same as inCreate Setup Pathdialog box.

PropertiesSetup Path

Opens the path in the path view. Not available on anopen path.

Open/Close

Closes an open path, removing it from the path view.Only available on an open path.

Inserts a new setup path node into the tree structure.Create Setup PathNOTE!You can also access this function from the Ar-cWelding ribbon-tab.

Synchronizes theselected path to thevirtual controller.Synchronize to VC

Export path into a XML file. The default name of the fileconsists of task name and path name. An dialog boxwill appear for users to specify the exporting referenceframe.

Export Path

SeeExporting a path on page 49for detailed descrip-tion.

Import XML path file into the station as a setup path.

A dialog box opens for specifying import reference,tool, workobject, path name and module name.

Import Path

Please seeImporting a path on page 50for detaileddescription.

A check mark indicates that the selected path is visible.VisibleNot available on an open path.

Closes an openpath, removing itfrom thepath view.Only available onan open path.

Delete

Shortcut menus from the Service Procedures node

DescriptionMenuNode

Inserts a new service path node in the tree structure.Create ServicePath

Service Pro-cedure NOTE!You can also access this function from the Ar-


Import a path XMLfile into station asa service path.

Import Path




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DescriptionMenuNode

Modifies the properties of service path with a dialogbox. The contents of the dialog box are the same as intheCreate Service Pathdialog box.

PropertiesService Path

Opens the path in the path view. Not available on anopen path.

Open/Close

Closes an open path, removing it from the path view.Only available on an open path.

Inserts a new service path node into the tree structure.Create ServicePath NOTE!You can also access this function from the Ar-


Synchronizes the selected path to thevirtual controller.Synchronize to VC

Export path into a XML file. The default name of the fileconsists of task name and path name. A dialog boxopens for specifying the exporting reference frame.

Export Path

SeeExporting a path on page 49for detailed descrip-tion.

Import XML path file into station, as a service path. Adialog box opens for specifying import reference, tool,workobject, path name, and module name.

Import Path

SeeImporting a path on page 50for detailed descrip-tion.

A check mark indicates that the selected path is visible.VisibleNot available on an open path.

Closes an openpath, removing itfrom the path view.

Only available onan open path.

Delete






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Creating a setup/service path

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DescriptionObject

Enter a name for the created path.Path Name

Synchronize RAPID module. Default module is mSetup.Module Name

If selected, the menudata will also be created. The informationin the menudata is as the following inputs from the dialog box.

Include Menu Data

Input a category string for the setup/service path.Category

Get automaticupdate when entering a new setup/service path.Description

Select tasks in which the new create path runs. Useful when

used in a MultiMove program.

Run in tasks

Select stations for which this part data will be valid. The valueshould be a number from 1 to 8.

Valid on Stations

Select stations for which this part data will be valid. The valueshould be a number from 1 to 8.

Valid at Position

If selected, this menu item will be shown after an error occurs.Allow After Error

If selected, all other tasks will be blocked during the executionof this path.

Block Other Tasks

A unique integer number, to indicate the ID for PLC interface.PLC Code

Select an image for the new created setup/service path. Thisimage can be shown on Production Manager of the FlexPend-ant.

Image File






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To create a Setup/Service path, follow these steps:

1 In the ArcWelding browser, right-click the setup/service procedures node ora setup/service path node and clickCreate Setup Path ServiceorCreate

Service Path, or clickSetup PathorService Pathin the ArcWeldingribbon-tab to open the dialog box.

2 Complete the dialog box and clickOK. If any RAPID name is invalid, thenclickingOKwill not close the dialog box.

Note

After completing the dialog box, you can view the created setup/service path inthe tree structure of the ArcWelding browser. If the path is selected to be run inmulti-tasks, a new setup/service node with the same name will be created undereach task. This is very useful in a MultiMove station.





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4.1 Overview

Overview

The path view displays the targets in a path by representing them withInstructionicons on page 60. The large arrow head indicates the start of a path.

When a program contains several paths, the first instruction in the path view is thelast instruction of the preceding path. This enables you to verify that the robot canbridge the paths.

The path view holds The Path View toolbar on page 63, which has menus andbuttons for the most frequently used commands. You can use the Createmenu toadd welds or insert instructions and the Modifymenu to manipulate targets andaxes. The Path Player can execute individual targets or entire paths.

The path view also contains a Shortcut menu on page 65and a number ofMulti-Selection Operations on page 89to modify multiple targets.

Multiple paths may also be displayed. Since each robot can display one path, upto four paths may then be stacked in the path view. When editing a path, however,the others are highlighted grey.

A robot icon, the Robot Cursor, sits on top of the targets to indicate the positionof the robot in the target sequence. Note how the cursor advances step-by-stepwhen the path is executed. This is particularly useful in MultiMove systems, whereexecution of multiple robots can be displayed in a single view.

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4.2 Instruction icons

Overview

An instruction icon shows the type (shape), motion (arrow) and status (color) ofeach target. Targets are sequenced from left to right in two levels: the lower levelrepresentsprocess sections,such as welds andsearch sequences, while theupperlevel represents air move sections, which typically connect process sections.

Instruction icons

The following table describes the icon shapes:

DescriptionIcon

Target

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Process start target

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The following table describes the arrows:

DescriptionIcon

Linear move

en1200000255

Joint move

en1200000256

Absolute joint move

en1200000257

Circular move

en1200000258

The following table describes the color coding. The goal is to turn all the statusfields green before synchronizing the paths to the virtual controller.

DescriptionIcon

White = unknown status

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Green = target verified

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Yellow = solution found, but not verified

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Red = no solution, or target out of reachen1200000262




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DescriptionIcon

Blue = non-motion instruction

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The following table describes examples of the above:

DescriptionIcon

Linearmove, processstart target, solution found butnotverified

en1200000265

Joint move, target verified

en1200000266

Circular move, no solution or out of reach

en1200000267

Linear move, unknown status

en1200000268

The following table describes the instruction levels:

InstructionInstruction typeLevel

MoveL, MoveJAirUpper

ArcLStart, ArcL, ArcC, ArcLEnd, Ar-cCEnd, Search_1D, Search_Groove

ProcessLower

The following table describes the non-motion instructions:

DescriptionIcon

WaitSyncTask

en1200000269

SyncMoveOn

en1200000270

SyncMoveOff

en1200000271

Miscellaneous RAPID

en1200000272

Example

en1200000308

PROC My Path

MoveJ




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SearchL

SearchL

MoveL

MoveL

WaitSyncTask

MoveJ

ArcLStart

ArcL

ArcC

ArcCEnd

MoveL

MoveJSyncMoveOn

ArcLStart

ArcL

SetDO

ArcL

ArcLEnd

SyncMoveOff

MoveL

MoveJ

ENDPROC



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4.3 The Path View toolbar

Overview

The path view toolbar has buttons for the most frequently used commands.

Path View toolbar

DescriptionIcon

The Set View Center button sets the viewcenter automaticallyto the selected target in the path view or the active TCP (if notarget is selected).

This menu contains the following commands: Create Weld on page 67.

Create Weld instruction on page 78.

Create Air instruction on page 80. Create ABS joint target on page 82.

Create Search instruction on page 124.

Create an Action instruction on page 84.

TheCreatemenu

This menu contains the following commands: Modify instruction on page 85.

Modify target on page 86.

Modify Jointtarget / External Axes on page 88.

TheModifybutton

TheMoveL->MoveJbutton converts the Air, Approach, andDepart targets toMoveJorMoveL. This is a dynamic buttonand the button name is updated with reference to the selectedtarget.

TheMoveL-MoveJbutton

For example, if you select an air target with the current Moveconfiguration asMoveJthen the button text is updated toMoveJ->MoveL. Then by clicking the button, the target isconverted toMoveLand the text on the button is updated toMoveL->MoveJ. Therefore by clicking the target, you can seethe current Move configuration by looking at the text of thebutton and update accordingly.

This menu contains the following commands: Check Reach on page 101.

Set Configuration on page 102.

TheConfigurationmenu

TheArmbutton opens a dialog box similar to the one openedby clickingSet Configuration on page 102.

The image on theArmbutton also indicates the active Armconfiguration of the target.

The Wrist button opens a dialog box similar to the one openedby clickingSet Configuration on page 102.

The image on theWristbutton also indicates the active Wristconfiguration of the target.

TheToolbutton opens a dialog box similar to the one openedby clickingSet Configuration on page 102.

The image on theToolbutton also indicates the active Toolconfiguration of the target.




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DescriptionIcon

TheJump to Targetbutton jumps the robot with active TCPto the selectedtarget. It givesyou a chance to view torch anglesand detect possible collisions with the robot.

A successful result turns the target yellow and movesthe robot one discrete step towards the target.

An unsuccessful result turns the target red and leavesthe robot in its current position.

TheMove to Targetbutton moves the robot to the selectedtarget from the previous target in the target list, checks forreach and sets the robot configuration. You can also select arange of targets and move the robot in sequential order downthe target list.

A successful result turns the target green and movesthe robot continuously towards the target.

An unsuccessful result turns the target red and leavesthe robot in its current position.

NOTE!The virtual controller is not running when executingthis command.

TheSimulatebutton synchronizes the opened paths to thevirtual controllerand executes the paths in the virtualcontroller.

Themenu contains the followingoptions related with Simulate: Save As View (Default value: Cleared). Enable Log (Default value: Checked)

Checkor clear the checkboxesto enableor disable the options.

TheOptionsmenu

SeeThe Options Menu on page 105for more information.

TheSpeed Controllist applies only to Jump toandMove to.

Simulation speed is determined by the RAPID program.

The index and name of the active object.



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4.4 Shortcut menu

Overview

The table describes the commands of the path view shortcut menu.

DescriptionObject

SeeThe Create menu on page 66.Create

SeeThe Modify menu on page 85.Modify

SeeCheck Reach on page 101.Check Reach

SeeThe Path View toolbar on page 63.Jump To

SeeThe Path View toolbar on page 63.Move To

Displays instruction, the path angle and tool angle for the se-lected item.

Show Item Info

Sets the target referenced in the instruction as User CoordinateSystem.

Set Target Reference asUCS

Deletes the selected item.Delete

Converts a MoveJ instruction to a MoveL instruction.Modify/Convert to LinearMove

Converts a MoveL instruction to a MoveJ instruction.Modify/Convert to JointMove

Converts an approach or depart instructionto an air instruction,and disconnects it from the first or last target, respectively, ina seam.

Modify/Convert to Air

Converts an air instructionto an approach or depart instruction,andconnects it to the first or last target, respectively, in a seam.

Modify/Convert to Ap-proach

Export one or more process sections into XML path file. Onlyavailable on Process Start target, or rangeselections with evenpairs of Process Start and Process End targets.

Export Process Section(s)

Import path XML path into station, as one or more new weldsin the path. Only available on non-process targets.

Import Process Section(s)

Switch to select the corresponding instructions in RobotStudioenvironment when you select a range of icons in path view.You may see the effect by checking the Modifyribbon-tab ofRobotStudio.

Select Instructions

Convert a weld section into air points.Remove Process

Only available on Process Start targets.



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4.5 The Create menu

4.5.1 Overview

This menu contains the following commands:

Create Weld on page 67.

Create Weld instruction