Modifying Arc Welding Trajectories

Insert, modify and delete tags into an existing arc trajectory.

This task shows you how to:

Before you begin:

You must have an existing arc trajectory in your session.

See Also
Creating Arc Trajectories
Creating Seam Search Trajectories

Insert a Tag

Insert a weld tag or via tag into an existing trajectory.

When a weld tag is inserted, the Arc Welding Compass is snapped to it and you can modify its position and orientation along the seam. Its order in the sequence of tags can also be modified.

When a via tag is inserted, the Arc Welding Compass allows you to modify its position and orientation anywhere in the work area. Its order within the sequence of tags does not change.

  1. From the Arc section of the action bar, click Create/Edit Arc Trajectory .
    You are prompted to make a selection.
  2. Select an existing trajectory in the Behavior side tab of the immersive browser.

    The Modify Arc Trajectory dialog box appears. It is loaded with all of the current parameter values associated with the selected trajectory.

  3. Click the Tags tab and select a tag in the list.
    A context toolbar appears providing commands for inserting a new tag.
  4. To insert a tag, click:
    • Insert weld tag before to insert a tag between the selected tag and the previous one in the trajectory.
    • Insert weld tag after to insert a tag between the selected tag and the next one in the trajectory.
    • Insert weld tag to insert a tag at the current location.
  5. Change the position and orientation of the new tag as necessary, and click OK.
    The new tag appears at the specified location.

Modify a Tag

You can modify existing weld tags and via tags in a trajectory.

  1. Select the tag to modify.

    The Arc Welding Compass snaps to the tag. The position along the seam can be adjusted by dragging the two green arrows at the tag location.

    • If the position is adjusted past another weld tag, the order of the weld tags is updated in the tag sequence.
    • A weld tag can be converted to a via tag by selecting Convert to via tag in the context toolbar.

    • After a weld tag has been modified, it no longer complies with the interpolation rules that apply to all of the other weld tags and becomes locked. This means that changes in global interpolation for position and orientation do not affect the locked tag; its position and orientation can then only be changed manually.

      You can unlock a modified weld tag by selecting Unlock weld tag in the context toolbar. Unlocking a weld tag will make it once again subject to global parameter modifications.

    When a weld tag is selected, the Local Weld Gun Angles dialog box is displayed.

    When an angle is modified with the Arc Weld Compass, the values in the dialog box are updated. Similarly, when a value is changed directly in the dialog box, the Arc Weld Compass, tag, and tool are automatically updated in the work area. This dialog box disappears when a different type of tag is selected (such as a via point, approach point, depart point).

    If a via tag is selected, the orientation Robot snaps to the tag. The position of a via tag is not limited along the seam, therefore the orientation Robot can be used to modify its position and orientation anywhere in the 3D space.

    A via tag is limited only by its sequence in the tag group.

    A via tag can be converted to a weld tag by selecting Convert to weld tag in the context toolbar.

  2. Select Close arc weld compass to exit the modification mode.

Delete a Tag

Delete weld tags and via tags from a trajectory.

  1. Select the tag to delete in the trajectory.
  2. Select Delete tag in the Arc Weld Compass context toolbar.
    The selected tag is removed from the trajectory.