Creating Arc Tasks

You can create a task from one or more existing arc trajectories.

The task creation process represents a step that follows the trajectory creation. Motion instructions are created in the form of arc operations, search operations and robot motions based on selected tags and trajectories.

This task shows you how to:

Before you begin: This scenario assumes that you have created at least one arc trajectory.
See Also
Create Operations Dialog Box
Creating Arc Trajectories
Creating Seam Search Trajectories

Creating a Task

You can select trajectories to generate operations for an arc weld task.

  1. From the Arc section of the action bar, click Generate Robot Task .

    You are prompted to select a robot.

  2. Select a robot.

    The Create Operations panel appears.

    Task displays a default name for the new task being created. You can rename it as needed in this field.

    Controller displays the controller for the selected robot.

  3. Select the motion type from the list.

    The default motion type is determined by the current app, therefore Arc Operation is preselected.

    You are prompted to select a trajectory.
  4. Make a selection in the work area or Behavior side tab.

    Selected trajectories are added to the list in the Create Operations panel as they are selected.

    The selections are also highlighted in the work area with a reach status marker placed at the origin of each trajectory tag.



  5. Select a tag.

    If the tag is reachable, the robot will move to the selected tag.

    The Create Operations dialog becomes hidden, and an editable properties dialog box for the tag appears. This dialog box displays all of the properties associated with the selected tag.



    • Type displays the type of tag that was set at the time of trajectory creation and cannot be changed.
    • Config represents the configuration string of the robot. You can click on its value to change it.



    • Motion type represents the motion type associated with this point. It can be set to Joint or Linear.



    • Controller profiles represent the currently assigned profiles, including:
      • Motion profile
      • Accuracy profile
      • Tool profile
      • Object profile
      • Applicative profile
      Each profile can be changed individually by selecting a different profile from each respective list.
    • Lock status allows you lock or unlock the tag. When set to On (locked), the properties of the selected tag cannot be changed unless it is first set to Off (unlocked).

    Note: You can also select a trajectory to display its properties:



    Changes made in this dialog box are applied to all tags belonging to the selected trajectory when the dialog box is closed. You can prevent individual tag properties from being overwritten by setting their Lock status to On.

  6. Close the properties dialog box.
    The Create Operations dialog box appears.
  7. Optional: In a fixed TCP scenario, Grabbing Point for Fixed TCP allows you to select a tag that sets the grabbing point in scenarios where a product is not attached to the robot, and the robot has to move to a specific location to grab it.
    When used, a robot motion is created as the first instruction in the task to move the robot to the grabbing point, and a grab instruction is created to grab the product.
  8. Optional: You can generate a motion trace of the trajectory, specifying the Color, Diameter, and Display Type of the trace in the Motion Trace section of the Create Operations dialog box.
  9. Select OK to create the task and close the Create Operations.

    The new task appears in the Behavior tab of the immersive browser.



    You can view and edit the operations that have been created in Teach mode (accessible by double-clicking the task).



Resolving reach issues

A tag is colored yellow to indicate that it is reachable but the joint values for the robot are out of limits. In many cases, it is sufficient to adjust the roll angle value in order to make the tag reachable.

  1. Activate reach analysis mode by selecting Reach in the Create Operations dialog box.
  2. Select a yellow tag in the work area.

    A reach study is performed for the selected tag and the results are displayed in the form of a Reach Disc.



    Any green sections of the disc represent the reachable area, while yellow sections represent roll angle values that result in an out-of-limits reach state.

  3. Turn the compass to change the roll angle value on the tag and to make it reachable.

Resolving clash issues

Although the location of a tag can cause a clash between the weld gun and the object that is being welded, there are also situations where an adjustment in the roll angle value can resolve the clash.

  1. Activate clash analysis mode by selecting Clash in the Create Operations dialog box.


  2. Select a blue tag in the work area.

    If a clash is present, it is displayed in the work area.



    If Reach is also active while Clash is active, the Reach Disc will also display the clash in blue.



    Note: This type of analysis is computationally intensive and may require additional time to complete.

Viewing all tags and their properties

You can also have a detailed view of all tags and their associated properties.

  1. Select Details in the Create Operations dialog box.

    The Results dialog box appears.

  2. Click on any value to edit it.

    A list of available values for the selected parameter appears.



    A parameter type can be edited for multiple tags simultaneously by first selecting the desired tags in the Name column while holding the Ctrl key on the keyboard, then selecting the parameter value to edit.



  3. Select the desired value from the list.

    The value(s) are changed for the selected tag(s).



  4. Close the dialog box to return to the Create Operations dialog box.
    Any changes that have been made are saved when OK is clicked in the Create Operations dialog box.

Deleting a Task

You can delete Arc Welding tasks.

  1. In either Live Simulation or the tree, right-click the task to be deleted.

    The context menu is displayed.



  2. Select Delete.
    The task is deleted.