A seam from the part — robot and positioner in one program
The process engineer names the seam and the arc output; the torch path, positioner turns and reach are checked on the cell twin.
What is checked before the first seam
- The seam — as a verbSeam points or a part to weld around; the platform derives the torch path with its work angle.
- A circular seam — with the same kinematicsEach point is solved the same way as when sending to the robot; an arc break is visible in advance.
- The arc output is not guessedOn an arm with a gripper the first port is the jaw valve; the arc is named explicitly.
- Process parameters — in the datasheetWire feed and travel speed — on the welding robot.
- The positioner is a cell axisOne motion program for the robot and the positioner.
The welding robot is at an experimental maturity level; the customer’s cell is worked out in the implementation.
Kinds for a welding cell
Three ways to define a seam
| Path | The process engineer names | The platform derives |
|---|---|---|
| Seam by points | Seam points and arc output | Torch path with its work angle, heat input from the mode |
| Welding around a contour | The part to weld around | The nozzle is tilted outward and turns at the contour corner |
| Ring seam | Joint centre, axis, pipe diameter, offset, work angle | Radius, start point — the farthest from the robot, point step from the tolerance |
The ring is defined by the pipe
It is not entered point by point. Each point is solved by the same inverse kinematics as when sending to the robot.
The work angle closes the circle
A strictly radial nozzle drives the wrist to its stop on the far side of the joint; tilting the nozzle to the pipe axis helps close the ring.
A break is visible in advance
The verb does not promise a full circle: the arc stops where the arm locks, the rest of the ring is reported as an angle.
Where the platform refuses
- The path welds but the arc output is not boundRefusal: substituting the port would mean the jaw valve twitches instead of the arc.
- Arc and jaws on the same outputRefusal: striking the arc would close the gripper.
- The arc is lit and not extinguishedRefusal: the torch would travel to the start point while burning.
- A mode the head does not haveA refusal with the list of modes that exist.
What a welding cell is built from
Robot and torch
A 6-axis arm with a MIG/MAG torch; the datasheet has wire feed and travel speed. The torch flange dimensions in the library are an assumption, not a measurement.
Positioner
Two rotary drives: tilt sets the table under the seam, rotation turns the faceplate. With it the table makes a circular seam while the torch stays still.
Cabinet and fencing
A robot cabinet with a door and a pendant, cell fencing — library kinds of our own design.
The welding positioner runs on live test bench servos; the welding robot is at an experimental level, the customer’s cell is worked out in the implementation.
Discuss an implementation
Describe the unit or line — we will tell you what we will verify and in what time. Target indicators are fixed in the implementation specification.
Request access