Methods of Jogging The Robot: Weldpro

WeldPRO Jogging the Robot
Methods of
Jogging the Robot
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documents author. Any use, dissemination, forwarding, printing, or copying of this document is strictly prohibited. September 2013
In WeldPRO there are several ways to

jog the robot into position:
1. Using the virtual teach pendant: the conventional method
2. the Teach Tool
3. the “Current Position” tab on the virtual teach pendant
4. “Control-Shift-Click on an Object” method
5. the Move To method
6. the Cad-To-Path method
Jogging the Robot
Conventional Method:
Virtual Teach Pendant
Jogging the robot in WeldPRO using the conventional method:

click on the SHIFT key and click on any of the jog keys.
Choose Joint, Tool, World coordinate system:
WPJ_001
Jogging the Robot
Teach Tool
The Teach Tool appears as a sphere & a triad centered at the robot’s TCP.
The triad’s X, Y, & Z corresponds to the current Jog coordinate system:
Teach Tool in the Teach Tool in the Teach Tool in the

Joint coordinate system World coordinate system Tool coordinate system
The Teach Tool’s properties can be changed in the Robot Property window.
The Teach Tool can be made visible or invisible, and radius of it can be
changed to the desired size.
Teach Tool
Jogging the robot in WeldPRO using the Teach Tool:

click on the X, Y, or Z of the triad and drag the TCP to a desired location.
Choose World, Tool, or Joint coordinate system.
WPJ_002
Rotate Jogging the robot in WeldPRO using the Teach Tool:

On your PC, press & hold down the Shift & Ctrl keys while clicking on
the X, Y, or Z of the triad. The TCP will rotate around these triad axes.
Choose World, Tool, or Joint coordinate system.
Shift
Ctrl
WPJ_003
Jogging the Robot
Current
Position tab
The virtual teach pendant contains a tab called “Current Position”.

In the Current Position tab, you can move any of the axes in the
workcell by opening the drop down box & selecting the motion group.
In the Current Position tab, you can move any of the axes in the
workcell by typing the position coordinates in the proper box and
clicking on the MoveTo box.
In the Current Position tab, you can choose the coordinate

designation from Joint, X,Y, Z, or USER.
Jogging the Robot
Ctrl+Shift+
Click Object
August 2012
Jogging the robot in WeldPRO using the Ctrl+Shift+click object method:

simultaneously click on the Ctrl+Shift+click on object.
The TCP moves to that point, perpendicular to that point.
Shift
This line appears.
It is normal to the
Ctrl
surface.
Click on any Parts, Fixture, or Obstacle and the robot’s TCP will
move to that point.
WPJ_004
Jogging the Robot
Move To
August 2012
The “MoveTo” icon open the MoveTo window:
MoveTo MoveTo
icon window
Click on the Face button, then click on a surface of an object,

the TCP will move to that point and be normal to that surface.
WPJ_005
Click on the Edge button, then click on a surface, the TCP will move
to the edge of the object at that point and be normal to that surface.
WPJ_006
Click on the Vertex button, then click on a the object near a vertex,
the TCP will move to the point of that vertex, and be normal to that
surface.
WPJ_008
Click on the Arc Ctr. button, then click on the radius of a rounded object, the TCP
will move to the center of that rounded object, and be normal to that surface.
WPJ_007
Choose a point in your current “live” TPP that you want the robot’s
TCP to move. Then, click on the TP Point MoveTo button, and the
robot’s TCP will move to that point.
Point in the live Teach Pendant Program

Jogging the Robot
CAD-To-Path
August 2012
CAD-To-Path teaching allows you to create weld paths by clicking on the

part CAD model to generate the points of the program parts.
WeldPRO automatically creates the TP program and optimizes the path for
linear or circular motion.
Weld torch angles, weld schedules, and weave schedules can all be entered
by the programmer to create a complete, ready-to-run, weld path.
A sample of Cad-To-Path teaching:
WPJ_009
Methods of Jogging
the Robot
END
documents author. Any use, dissemination, forwarding, printing, or copying of this document is strictly prohibited.
Lab 2 - Methods of
Jogging the Robot
In this lab, use the workcell called WeldPRO_Training_Cell_1.

A. Find the file called WeldPRO_Training_Cell_1
B. Double click on the file name WeldPRO_Training_Cell_1.wpw
C. Double click on the file name next to the robot icon

This window opens, meaning the WeldPRO software is loading.

After a couple minutes, the workcell will open:

Jog the robot to various positions, using:
1. the virtual teach pendant: the conventional method
2. the Teach Tool method
3. the “Current Position” tab on the virtual teach pendant
4. the “Control-Shift-Click on an Object” method
5. the Move To method
6. the Cad-To-Path method

Lab 2 - Methods of
Jogging the Robot
END

Methods of Jogging The Robot: Weldpro

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WeldPRO Jogging the Robot

In WeldPRO there are several ways to

Jogging the Robot

Jogging the robot in WeldPRO using the conventional method:

Jogging the Robot

Teach Tool in the Teach Tool in the Teach Tool in the

Jogging the robot in WeldPRO using the Teach Tool:

Rotate Jogging the robot in WeldPRO using the Teach Tool:

Jogging the Robot

The virtual teach pendant contains a tab called “Current Position”.

In the Current Position tab, you can choose the coordinate

Jogging the Robot

Jogging the robot in WeldPRO using the Ctrl+Shift+click object method:

Jogging the Robot

The “MoveTo” icon open the MoveTo window:

Click on the Face button, then click on a surface of an object,

Point in the live Teach Pendant Program

Jogging the Robot

CAD-To-Path teaching allows you to create weld paths by clicking on the

A sample of Cad-To-Path teaching:

In this lab, use the workcell called WeldPRO_Training_Cell_1.

B. Double click on the file name WeldPRO_Training_Cell_1.wpw

C. Double click on the file name next to the robot icon

This window opens, meaning the WeldPRO software is loading.

After a couple minutes, the workcell will open:

Jog the robot to various positions, using:

1. the virtual teach pendant: the conventional method

2. the Teach Tool method

3. the “Current Position” tab on the virtual teach pendant

4. the “Control-Shift-Click on an Object” method

5. the Move To method

6. the Cad-To-Path method

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