WeldPRO Setting Torch Angles

WeldPRO Tutorial
Setting Weld Angles

This document contains information proprietary to its author, or one of its affiliates, and is intended solely for the use of the individual or
entity to whom addressed and shall be maintained in confidence and not disclosed to third parties without the written consent of this
documents author. Any use, dissemination, forwarding, printing, or copying of this document is strictly prohibited. September 2013
 WeldPRO Setting Torch Angles

Introduction

WeldPRO provides the ability to automatically

generate weld programs with the CAD-to-Path
function.

The orientation of the welding torch can be

optimized by applying the following guidelines
to the CAD-to-Path settings.
 WeldPRO Setting Torch Angles

Welding Torch Tool Frame

• When creating the robot

TCP, the location is
defined at the end of the
wire. The orientation of
the TCP is defined as: Z
X Y
• +X direction goes out
the front of the torch

• +Y direction goes out

the side of the torch

• +Z direction goes up
the torch barrel
 WeldPRO Setting Torch Angles

Right Hand Rule

• The Tool Frame directions are +Z

based on the right hand rule. +X

– Hold your hand in front of a torch

+Y
to see the direction of the TCP.
• Rotation of the TCP uses
Fleming’s variation of the right
hand rule
– Point the thumb in the positive
+X direction
direction of the rotational axis.
Your curled fingers will point in +X rotation

the positive direction of rotation.

 WeldPRO Setting Torch Angles

CAD to Path Basics

• When drawing the weld
path, a normal line will
stick out of the surface
that the mouse pointer
is over.

– The normal line

represents the default
work and push angle for
the torch.

– Keep the mouse pointer

over the same surface for
the entire weld path.
 WeldPRO Setting Torch Angles

Weld Path Direction

• The direction of the
weld path begins at the
Arc Start position and
continues through all of
the weld points to the
Arc End position.
Arc End Position
• This weld path sets the
torch direction ‘Along Along the segment direction
the segment’.

Arc Start Position

 WeldPRO Setting Torch Angles

Torch Direction
The torch’s default
• The direction of the position is the same as
torch is set in the Pos the normal line.
Defaults screen of the
CAD to Path feature.

Z
Y X

+Z will always be normal

to the surface. When ‘Along the +/-
segment’ is changed to
Along the segment can +Y the torch is rotated
be set to +/- X or +/- Y. 90 degrees around the Z
+X is the default setting Z axis. Y
for Along the segment. X
 WeldPRO Setting Torch Angles

Torch Angle Example

Use the second right hand rule to
determine the direction of rotation and +X direction
set the value in the Pos Offset window.
+X rotation

Point thumb in the +X direction.

Fingers point in positive direction
to rotate the torch down. Pointing
thumb in +Y direction shows [RY]
needs to be negative to get a
push angle.

•All directions are relative to

the normal line.
•Work Angle [RX] tells you
the rotation is about the tool
X direction. Push Angle Y
Z
[RY] rotates around the tool X
Y direction.
 WeldPRO Setting Torch Angles

Torch Angle Example 2

• If the torch direction ‘Along the segment’ is set to

+Y, the direction of rotation might change.

Push Angle becomes

positive, because the thumb
is pointing in the opposite
direction.
Work Angle becomes
[RY] and Push Angle
becomes [RX]. The
switch occurs to match
the ‘Along the segment’ Z
direction. Y
X
 WeldPRO Setting Torch Angles

Torch Angle Example 3

• The mouse pointer is over
the opposite surface when
the weld path is drawn. The
normal line is in the opposite
direction

Using +X as the direction ‘Along the Y

segment’, the normal line needs to be Z
rotated up to get a proper work angle. X
Holding your thumb in the +X direction
shows that [RX] is a negative rotation.
 WeldPRO Setting Torch Angles

Path Direction
• When welding on both sides
of a part, the air cut time
can be minimized by Arc Start Position #2
placing the Arc Start point Use –Z ‘Along the
at opposite ends of the part. segment’

• The ‘Along the segment’

direction reverses for the
second weld.
– If the direction is not changed,
the second weld will try to
spin the torch 180 degrees
Arc Start Position #1
• The value of the work angle Use +Z ‘Along the
and push angle will change segment’
sign from the first to second
weld.
 WeldPRO Setting Torch Angles

WeldPRO Tutorial
Setting Weld Angles
END

This document contains information proprietary to its author, or one of its affiliates, and is intended solely for the use of the individual or
entity to whom addressed and shall be maintained in confidence and not disclosed to third parties without the written consent of this
documents author. Any use, dissemination, forwarding, printing, or copying of this document is strictly prohibited.
 WeldPRO Setting Torch Angles

Lab 7
WeldPRO Tutorial
Setting Weld Angles
This document contains information proprietary to its author, or one of its affiliates, and is intended solely for the use of the individual or
entity to whom addressed and shall be maintained in confidence and not disclosed to third parties without the written consent of this
documents author. Any use, dissemination, forwarding, printing, or copying of this document is strictly prohibited.
 WeldPRO Setting Torch Angles

1. Open the workcell called WeldPRO_Training_Cell_1.wpw.

2. Using Cad-To-Path, create teach pendant programs that weld

around both cylinders on the Part.

3. Use the instructions in this curriculum to create these TPPs

correctly. Experiment with the torch angle settings.

4. Save your work.

 WeldPRO Setting Torch Angles

1. Open the workcell called WeldPRO_Training_Cell_1.wpw.

2. Using Cad-To-Path, create teach pendant programs that contain

fillet weld on the Part.

3. Use the instructions in this curriculum to create these TPPs

correctly. Experiment with the torch angle settings.

4. Save your work.

 WeldPRO Setting Torch Angles

Lab 7
WeldPRO Tutorial
Setting Weld Angles
END
This document contains information proprietary to its author, or one of its affiliates, and is intended solely for the use of the individual or
entity to whom addressed and shall be maintained in confidence and not disclosed to third parties without the written consent of this
documents author. Any use, dissemination, forwarding, printing, or copying of this document is strictly prohibited.