Creating Seam Search Trajectories

Create seam search trajectories to establish geometric constraints that assist a robot controller in finding where the weld seam is.

See Also
Create Seam Search Trajectory Dialog Box
Creating Arc Trajectories
  1. From the Arc section of the action bar, click Create Seam Search Trajectory .
    You are prompted to select a robot.
  2. Select a robot.

    The Create Seam Search Trajectory dialog box is displayed.

  3. To select a different weld gun, click within the Tool field.

    The Select Weld Gun dialog box appears.

    When a tool is selected, it is highlighted in 3D and its TCP is indicated by a orientation Robot. If a different tool is selected or the TCP is changed, the highlight and orientation Robot are updated after the selection. If the selected tool is the default tool for a robot in this station, the Robot field displays the name of the robot.

  4. Select Track target with attached robot to have the robot and gun follow the selected tag.

    Note: The Tags and Tool options the Create Seam Search Trajectory dialog box must also be selected to see the tool track the target.

    Tracking the target requires that the following conditions are satisfied:

    • The selected tool is attached to a robot (identified by the Robot field).
    • Tools and Tags are both selected.
    • There are no reachability issues between the robot and the tag. If a tag is not reachable, the position and orientation of the selected tag must be changed, as the robot can not be jogged manually while the command is active.

  5. Select Maintain edge contact with surface to more precisely define the part of the weld gun used for clash.
    The Edge: geometry selector becomes available.
  6. Select the an edge or surface of the weld gun to be used for constraining the position.



    Edge: is populated with the selected geometry.

    Note: If you make a different selection, the previous selection will be replaced by the new one. If the you select a geometric element from a different weld gun, the respective fields update to the new device and the element will become the selection.
  7. Select OK to close the Select Weld Gun dialog box.
    The Create Seam Search Trajectory is displayed.
  8. Select a surface.

    A touch point is created on the surface and the orientation Robot is snapped to it.

    The Weld Gun Angles immersive panel is displayed, and allows you to set the orientation of the weld gun with respect to its target surface by entering precise values for Yaw, Pitch and Roll directly in the panel. Any changes made to the orientation using the orientation Robot are also immediately reflected in this panel.

    Note: The Weld Gun Angles panel is not displayed when a via point is displayed instead of a touch point.

    The touch point search path is added to the Search Path list in the Parameters section of the dialog box.

    • Each touch point is identifiable by its Search Path, which includes the via points leading up to the touch point and ends with the touch point itself. The complete seam search trajectory is composed of the search paths in the given sequence in the list.
    • The number of points for a given touch point is displayed in the Points column. There are always at least two points (one via point and one touch point). There is no upper limit on the number of points that can be defined.

    • The appearance of the line (Line Type, Color and Thickness) is defined under Line Properties of the General tab.

  9. Select another surface.

    The touch point is created on the surface and added to the Search Path list.

  10. Select another surface.

    The touch point is created on the surface and added to the Search Path list.

    Note: You can undo and redo selections via Edit > Undo Add Search Path and Edit > Repeat , respectively.



  11. Select OK to create and save the seam search trajectory.

    The new trajectory appears in the Behavior side tab of the immersive browser: