Project Settings

The Project Settings dialog can be accessed from File > Project Settings... and allows project-specific properties to be tweaked in addition to parameters related to Program Generation.

General

• File path: Path to where the current project is saved.

• Work cell: Changes which workcell to use. This is useful if a single part will be used across mutiple workcells (for example, a robotic system with multiple stations for part loading). If the workcell is changed, all weld plans are cleared.

• Tasks: Select which combination of robots and workstations are enabled for use in the current project. A workstation cannot be controlled by 2 different robots in the same workstation.

• Author: Text field to add information about the author of the project.

• Comments: Text field to add comments about the project.

• Compression: When enabled, will compress the projects file upon saving to reduce the storage space required by the project. It should be noted however that this will increase saving and loading times.

Program/Robot Settings

This section is broken into 4 different tabs, and controls how the individual welding operations are assembled into a complete program.

Program

• Program Generator: Select the generator to use when outputting robot code.

• Generator Options: Adjustable options unique to each generator.

• Grouping:

  • Output welds and senses in groups: If enabled, will group a set number of welds and senses to be completed together, with the senses being performed first.

  • Start a new group every # welds: Sets how many weld/sense operations should be grouped together. Setting this to five for example, will output a program where the sensing actions for five welds are performed consecutively before the weld actions for those five welds are performed. This minimises the number of wire cuts that are required, however increases the chance of a poor touch sense if the wire is bent, damaged, or moved.

  • Start a new group when workpiece positioner is moved?: This will start a new group of weld / sense operations whenever the selected workpiece positioner moves. This is useful for situations where workpiece positioner movement requires the robot to return to the home position. This will then perform a wire cut / torch clean as required.

  • Start a new group when robot positioner is moved?: This will start a new group of weld / sense operations whenever the selected robot positioner moves.

• Torch Cleaning:

  • Clean torch after welding: Sets the total length to weld before calling the torch cleaning routine.

  • Delay torch cleaning until next wire cut: If this is enabled, torch cleaning will be delayed until immediately after a wire cut.

  • Torch cleaning will also cut wire: If enabled, a wire cut routing will be called after every torch clean routine.

• Wire Cutting:

  • Cut between welding and touch sensing: Calls the wire cut routine between welding and touch sensing if enabled. Will also add a motion to home prior to the wire cut.

  • Cut wire after every weld?: Cuts the wire after each weld is performed.

Tool

• Select Tool: Selects which tool’s details to display

• Welding Torch:

  • TCP: Selects if the default TCP for the workcell or a customised TCP should be used. This is useful if the TCP is modified after the workcell is created (e.g. the torch gets bumped and is moved slightly). If the TCP is changed significantly, a new workcell model should be obtained.

Speeds

Sets the speeds to output for each type of motion with the output program. The percentages are relative to the robot’s maximum speed.

Home

Selects if the default home position for the workcell or a customised home position should be used.