Weld Template Primitive File Format

The file format and supported parameters for primitive files are described below.

This page discusses:

See Also
Using a Weld Template Primitive File

File Format

A typical file structure for a Weld Template primitive file contains a header section followed by one or more seam descriptions.

Header "Multi-Joint Primitive"
    COMMENT "This primitive can be used to create"
    COMMENT "2 welds that have a common base"
Header
SEAM 0
    SeamName FREE "First Weld"

    -- Seam Creation
    SeamStart FIXED "Auto Seam"
    SeamEnd FREE "Surface"
    -- AutoSurfaceReverse FIXED "Yes"

    -- Flare
    EndFlareAngle FIXED 20
    EndFlareLength FIXED 8

    -- Approach / Departure Points
    ApproachDistance FIXED 30
    DepartureDistance FIXED 10

END SEAM
Seam.0 (first weld)
SEAM 1
    SeamName FREE "Second Weld"

    -- Seam Creation
    SeamStart FIXED "Auto Seam"
    SeamEnd FIXED "Auto Seam"
    -- AutoSurfaceReverse FREE "Yes"

    -- Flare
    EndFlareAngle FIXED 20
    EndFlareLength FIXED 8

    -- Approach / Departure Points
    ApproachDistance FIXED 10
    DepartureDistance FIXED 30

END SEAM
Seam.1 (second weld)
END
File end

Supported Parameters

The following parameters are supported for use in Weld Template primitive files.

Table 1. General
Variable Description Type Unit
Header Defines the header section of the file String -
Comment Comment in the header section String -
-- Two hyphen comment String -
END End of Seam/End of File - -
SEAM Opening statement of a seam block - -
SeamName Defines the name of the Path Created. If SeamName variable is not declared, "Seam" is the default name. String
SeamNumber Defines the Path name suffix (or number). If SeamNumber variable is not declared, the index of the seam in the file is used. Int
SeamLength Defines the length of a seam measured from the starting point along the weld seam. Double mm
StartWireRoll Defines the wire roll values for first Tag on the seam. Double degree
EndWireRoll Defines the wire roll values for last Tag on the seam. Double degree
AutoInterpolateRoll If this flag is set, interpolate the roll angles between first tag and last tag on the seam. String On/Off
WeldMoType Defines the motion type for Arc Weld Tags. String

"Linear"/

"Joint"/

“Circular”/

“Circular Via”
EndMoType Defines the motion type for ‘Arc End’ Tags. String

"Linear"/

"Joint"/

“Circular”/

“Circular Via”
SeamAlignment Defines the direction of the seam. String

“Along Seam”/

“Against Seam”
Table 2. Tessellation
Variable Description Type Unit
AutoSeamChordalDeviation Defines the 3D distance between a point on a Part and the chord between its two neighboring Tag Points. Double [mm]
AutoSeamEqualDistance Distance between points along the seam. Scales down the distance between two consecutive points in order to provide for equal distance from beginning to the end Double [mm]
AutoSeamDistance Distance between points. No scaling. Last segment of the curve is not scaled and is of different length. Double [mm]
Table 3. Offset
Variable Description Type Unit
StartDistance Distance from the start point of the curve to the start point of the trajectory Double [mm]
EndDistance Distance from the end point of the curve to the end point of the trajectory. Double [mm]
BaseTangentOffset Distance from the base surface to the curve. Double [mm]
WallTangentOffset Distance between the curve and the wall surface Double [mm]
Table 4. Orientation
Variable Description Type Unit
WireAngle Wire angle value Double [deg]
WireRoll Roll angle value Double [deg]
RakeAngle Rake angle value Double [deg]
Table 5. Access
Variable Description Type Unit
ApproachDistance Distance between the first weld point and the first point of the approach trajectory along the z-axis of the weld point Double [mm]
DepartDistance Distance between the last weld point and the first point of the depart trajectory along the z-axis of the weld point Double [mm]
SafeApproachDistance Distance between the first approach point and the second approach point along the global z-axis Double mm
SafeDepartureDistance Distance between the first depart point and the second depart point along the global z-axis Double mm
Table 6. Flare
Variable Description Type Unit Values
StartFlareLength Distance between the first point of the weld and the second point of the weld Double [mm] > 0
StartFlareAngle Angle value that is added to the rake angle of the first weld point Double [deg] Any
EndFlareLength Distance between the last point of the weld and the second last point of the weld. Double [mm] > 0
EndFlareAngle Angle value that is added to the rake angle value of the last weld point Double [deg] Any
Table 7. Motion Type
Variable Description Type Unit Values
ApproachMotionType Motion type of the approach point String "Linear" , "Joint"
DepartMotionType Motion type of the depart point String "Linear" , "Joint"
Table 8. Arc Weld Profiles
Variable Description Type Unit Values
WeldSpeedProfile Speed profile of all weld points String Name of the Arc profile or User profile
StartWeldSpeedProfile Speed profile of the first weld point String Name of the Arc profile or User profile
EndWeldSpeedProfile Speed profile of the last weld point String Name of the Arc profile or User profile
Table 9. Positioner
Variable Description Type Unit Values
AutoPositioner Enables automatic positioner programming String "Yes", "No"
AutoPositionerDirection Defines Torch orientation with respect to gravity. Vector {X, Y, Z} where X, Y, Z is 0 / 1 / -1
AuxAxisNMode Defines the auxiliary axes value definition mode. "N" is the aux axis index. String "Moving", "Constant", "Current Value" , "Value"
AuxAxisNValue Used to define the value of a aux axes when AuxAxisNMode is set to "Value". "N" is the aux axis index. Double [deg] Any
Table 10. Positioner with Gantry
Variable Description Type Unit Values
AutoPrismaticDevice Enable automatic prismatic device (gantry) computation. String Yes, No
AzimuthZero The AzimuthZero variable defines the robot azimuth computation mode. String Tag, Seam
StartAzimuth Defines the azimuth (horizontal swing) value for the beginning weld point and any approach via points Double Degree
MiddleAzimuth Defines the azimuth (horizontal swing) value for the middle weld and VIA points. Double Degree
EndAzimuth Defines the azimuth (horizontal swing) value for the end weld point and any departure via points. Double Degree
StretchMin Defines the minimum user defined stretch value Double mm
StretchMax Defines the maximum user defined stretch value Double mm
StartStretch Defines the stretch (Robot elongation) percentage value for the start weld point and any approach via points Double %
MiddleStretch Defines the stretch (Robot elongation) percentage value for the middle weld and VIA points Double %
EndStretch Defines the stretch (Robot elongation) percentage value for the end weld point and any departure via points Double %
StartElevation Defines the stretch (vertical swing) value for the start weld point and any approach via points Double Degree
MiddleElevation Defines the elevation (vertical swing) value for the middle weld and VIA points Double Degree
EndElevation Defines the elevation (vertical swing) value for the end weld point and any departure via points Double Degree
Table 11. Trajectory
Variable Description Type Values
IntersectGap Defines the distance given to extrapolate surfaces if no surface intersection exists. The software will attempt to extend the surfaces by the given distance in order to make an intersection between the surfaces. If no intersection can be made with the given distance, an error is reported. Double mm
Table 12. Robot Motion
Variable Description Type Values
SafeSpeed Defines the robot program speed when moving between safe Tag Points. Double m/s
ViaSpeed Defines the speed the robot travels between approach/departure and safe Tag Points. Double m/s
WeldSpeed Defines the Robot welding speed Double m/s
StartMoType Defines the Motion type assigned to the weld start Tag Point. String "Linear"/"Joint"
StartSafeMoType Defines the Motion type assigned to the start safe Tag Point. String "Linear"/"Joint"
EndSafeMoType Defines the Motion type assigned to the end safe Tag Point. String "Linear"/"Joint"
StartWeldSpeed Defines the welding speed at the starting weld Tag Point Double m/s
StartWeldDelay Defines the delay value for the starting weld Tag Point to facilitate arc ignition. Double sec
EndWeldDelay Defines the delay value to the end weld Tag Point. It can also be used to accommodate crater filling. Double sec