Welding task example

 

Welding of a pipe stub

A typical welding task performed by robots could be welding of a stub. In Ropsim this procedure is divided in four steps before the robot and the program are ready for production.

Modelling the piece

First a 3D CAD model is imported into the workcell from existing CAD models. If no CAD model is available the piece can be modelled in Ropsim.

Programming the Task

With the piece in place the programming of the welding face can start. Programming will start with targets being placed at appropriate places along the face. The targets indicate where the robot will weld and in which direction the welding tool will point. After this a circular movement is chosen as is speed, and places to start and stop welding. In this manner the robot program for the stub has been developed and is ready for testing.

Program Test

The simulation is started and the movements of the robot are visualized in 3D. At the same time program execution can be viewed in the program's source code.

Ropsim warns of any program errors and extreme axis values. Errors are corrected and the program is tested again.

Transfer to robot

After testing, the robot is transferred to the robot. Depending on the robot supplier this takes places in different ways: Network, serial port, or on disk. Utilizing a post processor can be necessary. The robot is ready for production as soon as the piece is placed in the workcell.

The piece is placed in Ropsim
The piece is placed in Ropsim

 

Supporting targets are placed along the welding line
Supporting targets are placed along the welding line

 

Verification of the robot program through simulation Verification of the robot program through simulation

 

Data Flow
Data Flow