Welding parameters are defined for a Welding operation on the task side of Robotmaster. Be sure to enter all parameters before creating paths for welding.

Adjust parameters and then hover the mouse over the workpiece to see a preview of

Once you click, the path parameters can’t be changed. If you need to change them, delete the path from the list and start over.

Welding

Selection filter

This option affects how workpiece geometry is automatically selected when creating a weld path.

• All
  Selects both edges and curves.

• Edges only
  Edges of entities on solids.

• Curves only
  Curves on wireframes, must be near edge.

Tool orientation

This affects the welding tool orientation relative to the selected edge or curve on the workpiece when applying a weld path. You can change between these options as you apply weld paths to get the desired result.

• Rolling ball
  With this algorithm, a ball (in green) is used along the edge or curve to create vectors for the weld path. The ball will bump up against other workpiece surfaces. This is a good general purpose option for several different types of weld joints.

  

  Use the Ball radius setting to control the size of the ball, to help fit it into tight spaces to get the proper tool orientation.

  

• Body contact
  From the selected edge, this technique detects adjacent bodies and then creates a bisecting angle between the surfaces of the bodies.

  

• Bisector
  Path vectors will bisect the current face and next face on a single body.

  

• Perpendicular
  Path vectors will be perpendicular to the edge surface on a single body.

  

• Tangential
  Path vectors will be tangent to the edge surface on a single body.

  

Chain tangent edges

When enabled, the selected edge and all tangent edges will be included in the path.

When cleared, only the selected edge will be included in the path.

Flip vectors

Rotate path vectors by 180°.

Contact distance

The maximum distance in mm used to detect other bodies in the surrounding space. This is used with the Body contact, Bisector, Perpendicular, and Tangential tool orientation options.

Contact angle

The maximum angle between the surfaces that should be in contact. This is used with the Body contact, Bisector, Perpendicular, and Tangential tool orientation options.

Ball radius

Used with the Rolling ball option for tool orientation, this defines size of the ball.

Obstacle detection distance

When enabled, this looks for obstacles that are tangent to the weld path. If an obstacle is detected, the weld path will be trimmed so that it doesn’t go past the obstacle.

Auto join

When enabled, this will automatically join adjacent weld paths into a single path.

Join only if same vectors

Auto join will only join adjacent paths when the end and start vectors of the paths are the same.

Join condition distance

When auto joining two paths, this defines the distance over which to gradually transition from one vector to another.

Corner stop

Stop the weld path at the specified distance before reaching a corner.

This option may be useful in tight spaces to prevent the weld tool from colliding with the workpiece.

Corner stop distance

This defines the distance away from a corner to stop the weld path.

Extend / shorten

This technique creates a base path and then extends or shortens it by the specified distance.

Entering negative Start offset and End offset values will shorten the path by that distance.

Extension mode

• Mixed
  Combination of Line and Follow path.

• Line
  The extension will follow a straight line from the nearest entity at the start or end.

  

• Follow path
  The extension will be applied along the existing path for the offset distance.

  

At start / at end

Select the At start and At end options to extend or shorten a path, then enter Start offset and End offset distances (in mm).

Push/pull

This option can be used to tilt the torch along the path at an angle, for push or pull welding.

Push orientation

Push will tilt the tool vector back on the path, the weld puddle will lead ahead of the torch.

Pull orientation

Pull will tilt the tool vector forward on the path, leaving the weld puddle lagging behind the torch.

Angle

This defines the push or pull angle.

Start / end conditions

This option is similar in effect to push / pull, except that the torch tilt angle transitions gradually from the specified angle to the angle of the path vector.

Transition distance

The distance over which to transition from the specified angle to the angle of the path vector.

Transition angle

Specify a tilt angle.

At start

Apply the angle transition at the start of the path.

At end

Apply the angle transition at the end of the path.

Corner retract

Add a retract by the specified distance along the tool direction during the transition.

Tacking / intermittent

This option is used for tack or spot welding.

Weld tack length

Tacking mode

• Distance
  Stitch length and Stitch distance are used.

• Fixed number
  Specify a Number of tacks and Stitch length . Applies evenly across entire path.

Distance between tacks

Number of tacks

Auto adjust

When tacking mode = distance, automatically adjust the stitch distance so that it is applied evenly across entire path.

Use tack center reference

Measure tacks from center to center instead of end to end.

Align at start

Align at end

MultiPass

For multi-pass welding,

Use Z up order

Go from root - wall - floor

OFF = go root - floor pass, then wall. This is in terms of the Z up direction

What determines wall v floor?

Different terminology:

root pass

fill passes

cap pass

Keep same direction

By default it will alternate multi pass weld directions L to R, R to L. This will keep it all in the same direction.

Number of layers

Talk about number of welds., depth

Pass offset

Offset in MM,

root pass, second pass

what about the sequence