Creating Trajectories and Tasks

The following tutorial illustrates the workflow involved in creating arc trajectories and tasks.

Click Play to watch the video:

  1. Click Create/Edit Arc Trajectory and select a robot.
  2. In the Create Arc Trajectory dialog box, click to define a new trajectory based on curve selections.
  3. In the Select Curves dialog box, click in the Curves field to activate it, and select an edge or curve in the work area.
  4. In the Select Curves dialog box, click in the Base Surface(s) field to activate it, and select a surface in the work area that will serve as the base surface.
  5. In the Select Curves dialog box, click in the Wall Surface(s) field to activate it, and select a surface in the work area that will serve as the wall surface.
  6. Click OK to close the Select Curves dialog box. A contour based on your selections appears in the work area.
  7. Resize the contour by selecting and dragging the Start and Stop arrows at each end of the contour.
  8. Select Tool to view the current torch position on the trajectory based on the current parameter settings.
  9. Adjust parameter settings (such as Orientation, Offset, Approach/Depart, and Sampling, as shown) as required
  10. Once the trajectory is configured as required, click OK to close the Create Arc Trajectory dialog box and create the trajectory.
  11. To create another trajectory based on intersecting surfaces, click Create/Edit Arc Trajectory and select a robot.
  12. In the Create Arc Trajectory dialog box, select Surfaces Intersection as the method of trajectory definition and click to define a new trajectory.
  13. In the Select Surfaces dialog box, click in the Base Surface(s) field to activate it, and select a surface in the work area that will serve as the base surface.
  14. In the Select Surfaces dialog box, click in the Wall Surface(s) field to activate it, and select multiple surfaces in the work area that will serve as the wall surfaces.
  15. Click OK to close the Select Surfaces dialog box. A contour based on your selections appears in the work area.
  16. Select Tool to view the current torch position on the trajectory based on the current parameter settings.
  17. Adjust parameter settings (such as Approach/Depart, as shown) as required
  18. Once the trajectory is configured as required, click OK to close the Create Arc Trajectory dialog box and create the trajectory.
  19. To create a task based on the trajectories you have created, click Generate Robot Task and select the robot.
  20. In the Behavior side tab, select the trajectories. Your selections appear in the Create Operations dialog box.
  21. Click OK to create the task and close the Create Operations dialog box.
  22. In the Behavior side tab, double-click the task to open it in Teach.
  23. You can select specific operations in the Teach table to move the tool to the corresponding tag and verify its position and clearance.
  24. In the Play Simulation panel, click Play to simulate all operations of the task.