VPSS 3i WELD

Users Guide
Ver. 2.07
 Introduction

Thank you for purchasing VPSS 3i WELD.

This manual explains the functions and operations of VPSS 3i WELD.
Please read this manual before using the software and refer whenever required.

Note
Please don’t copy without permission.
The contents and structure of this manual may be revised without prior notice.

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VPSS 3i WELD Users Guide
(C)2013 AMADA CO.,LTD. All Rights Reserved.
About Trademarks / Copyrights and Proprietary rights

This product includes software developed by devDept Software S.r.l.

(http://www.devdept.com).

In this product has contained Log4net/Library version 1.2.10.0 that is developed by The
Apache Software Foundation （ http://www.apache.org.). As the details of copyright or
proprietary, please refer following license file.
<VPSS 3i Installation folder>¥AMADA3i/License¥ log4net.LICENSE.txt

UNLHA(32).DLL is free software made by Micco.

About this manual

This manual explains how to use VPSS 3i WELD.

After reading this manual, you will understand the basic concepts of VPSS 3i WELD and its
operating procedures.

Structure of this manual

This manual consists of three chapters, and these chapters provide the following
information..

 Chapter 1: Initial Settings

This chapter explains the initial tasks required after installing the software,
including system settings and machine selection.
 Chapter 2: Basic Operations
This chapter explains the workflow for creating WELD data by going through the
procedures of setting weld edge, setting weld condition, making weld setup, and
then saving the data to vSDD.
 Chapter 3: Edit.
This chapter explains to edit weld features and weld conditions.

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 CONTENTS
Chapter 1 Initial Settings
Section 1 Initial settings after installation ..................... 1-1
System Setting ···················································· 1-2

Chapter 2 Basic Operations

Section 1 Creating WELD data ....................................... 2-1
Basic operations for Set Welding (Production
Designer) ···························································· 2-2
Jig Register ························································· 2-6
Nozzle Registe ····················································· 2-8
Basic Operation of VPSS 3i WELD ························· 2-9
Section 2 Creating data using Automatic features ..... 2-27
Create Machine ·················································· 2-28
Set Machine ······················································ 2-30
Import vSDD data ··············································· 2-31
Basic Operations for Auto Table Sequence ··········· 2-32
Basic Operations for Auto Path Generator ············ 2-37
Section 3 Creating Batch setup data ........................... 2-43
Set Machine ······················································ 2-44
Jig Register ······················································· 2-45
Import vSDD data ··············································· 2-46
Create Base Setup ············································· 2-47
Create Batch Setup (Grid Pattern) ························ 2-59
Edit Order ························································· 2-69
Edite Base Setup ··············································· 2-76
Create Batch Setup (Radial Arrangement) ············· 2-78

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Chapter 3 Edit
Section 1 Editing Weld edge .......................................... 3-1
Add Weld Edge (WELD CAM) ································ 3-2
Offset Weld ························································· 3-5
Edite Cone Angle for Weld Condition ···················· 3-11

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VPSS 3i WELD Users Guide
(C)2013 AMADA CO.,LTD. All Rights Reserved.
 Initial Settings

VPSS 3i WELD Users Guide

(C)2013 AMADA CO.,LTD. All Rights Reserved.
(C)2013 AMADA CO.,LTD. All Rights Reserved.
 Section 1 - Initial settings after installation

Section 1 Initial settings after installation

This chapter explains the initial tasks required after installing the software, including system
settings, machine selection.

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Chapter 1 - Initial Settings

System Setting

This section explains how to use the language settings and unit settings in System
Settings, which are the overall environment settings for VPSS 3i.

[Option Settings]
1 Double-click the [WELD CAM] icon on the desktop or taskbar.
2 The VPSS 3i WELD window appears.

VPSS 3i WELD Window

The layout of the VPSS 3i WELD window shows below.

Application Menu

Ribbon Control Menu

Viewer Tool Bar

Tree View
Viewer Command
Manager &
Property
Manager

Message
Display

3 Click [Application Menu].

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 Section 1 - Initial settings after installation

4 Click [Option].

5 The [Option Settings] dialog box appears.

[Option Settings] Dialog Box

The layout of the [Option Settings] dialog box shows below.

[System Setting]
Global system environment settings, including language and units (mm/inch) settings.
[Application Setting]
Settings such as the color of movement trajectory and the machine used in VPS S 3i
WELD, including usage settings, viewer settings, and machine settings.

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Chapter 1 - Initial Settings

[System Setting]
6 In [System Setting], select [System Language and Operation].
7 In [Language Setting], you can select the language to display in VPSS 3i.
Check the language set in this field.

8 Select [Units Settings].

9 In the [Display Unit] list, select [mm](millimeter) or [inch].

10 Click [Apply].
Tips: The [System Language and Operation] and [Unit Settings] apply to all
applications in VPSS 3i WELD.

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 Section 1 - Initial settings after installation

[Application Setting]
11 In [Application Settings], select [Useage Options].
12 In [Useage options], you can set the folder path of Data Server of FLW_CAM.
If you use Data Server of FLW_CAM, select [Yes] button of [Use FLW_CAM Server].
Then input a folder path of Data Sever to [FLW_CAM Data server Location] text box.

13 Click [Viewer Setup].

You can change the color and size to display in VPSS 3i WELD.
14 Click [Apply].
15 Select the machine you want to use in [Machine Setup] and click [Select].

16 Click [OK] in a confirmation message.

17 Click [Apply].
18 Click [OK].
19 Click [Application Menu].
20 Click [Exit Application].

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 Basic Operations

VPSS 3i WELD Users Guide

(C)2013 AMADA CO.,LTD. All Rights Reserved.
(C)2013 AMADA CO.,LTD. All Rights Reserved.
 Section 1 - Creating WELD data

Section 1 Creating WELD data

This section explains the workflow for creating WELD data by going through the procedures
of setting weld edge, setting weld condition, making weld setup, and then saving the data to
vSDD.

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Chapter 2 - Basic Operations

Basic operations for Set Welding (Production Designer)

Basic Operation for Set Welding
Open vSDD data
In this example below, “A-4” of Sample folders of vSDD data is open.

1 Double-click the [Production Designer] icon on the desktop or taskbar.

2 The [Production Designer] window appears.
3 Click [Application Menu].
4 In the application menu, click [Open].

The [vSDD] dialog box appears.

5 Select “A-4” in the Sample folder, and then click [Open].
“A-4” is open into the [3D Model] tab.
6 If Ortho shows, hide Ortho using tool bar.

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 Section 1 - Creating WELD data

Set Welding
7 In [Sheet metal CAD] of [3D metal CAD] tab, click [Set Welding].
8 The [Set Welding] command displays.
9 Set the two welding edges so that the welding direction and welding order are as
shown in the figure below.
You can add weld edges by clicking on the edges of the 3D model.

Tips: The welding direction can control by the mouse position when welding is set.
(The starting point is the point where the mouse on the selected edge is close.)

If you want to change the welding direction after setting the welding edge, click
the [Flip Direction] button.

To change weld order, click up/down buttons at the [Welding Attribute] and of
command.

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Chapter 2 - Basic Operations

10 Click [OK].

Attributes file creats automatically and created welding settings adds to this file in the
Production Tree.

Creating Method Patterns

11 Click [Move To Method] on [Home] tab.

The [Method] tab opens.

12 Select [DEFAULT].
13 Click [Delete].

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 Section 1 - Creating WELD data

14 Click [Create Method Pattern].

15 Change [Method Pattern Name] to “WELDTEST” and click [OK].

16 After “the bend deduction is not registered” displays, click [OK].

“WELDTEST” adds to [Production Tree].

Save
Save the data.
17 Click [Application Menu].
18 Click [Save].

19 Click [Application Menu].

20 Click [Exit Application].

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Chapter 2 - Basic Operations

Jig Register
Prepare Jig data
In this example below, “Part-04.STEP” of Sample data uses as a jig data.

1 Double-click the [Production Designer] icon on the desktop or taskbar.

2 The [Production Designer] window appears.
3 Open the [3D Model] tab, and click [3D Import].

4 Select “Part-04.STEP” in UsersGuide/SampleData/3D Data folder under this

application’s installed folder (by default C:/Program Files/AMADA3i) and click [Open].
3D model imports to the [3D Model] tab.
5 Click any face to recognize feature.
6 Select “PART-04” in [Design Tree].
7 In [Application Menu], select [Export]-[3D Data].

8 Specify Save in, and File name.

9 Select File Type [ACIS SAT File(*.SAT)] from the pull-down and click [Save].
10 Click [Application Menu].
11 Click [Exit Application].

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 Section 1 - Creating WELD data

Register Jig
12 Double-click the [Parameter Explorer] icon on the desktop or taskbar.
The [Parameter Explorer] window appears.
Tips: If you changed parameter in [Parameter Explorer], please close VPSS 3i
WELD.
13 Open the [Machine] tab.
14 In the Machine Name tree view, click the processing machine that you want to
reference or edit.

15 Click [Jig Register].

16 Click [Import].
17 Select SAT File (Part-04.SAT) saved in “Prepare Jig data” in the Import dialog box,
and then click [Open].
The Jig(Part-04) adds to the jig list.
18 Click [Save].

19 Click [Application Menu].

20 Click [Exit Application].

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Chapter 2 - Basic Operations

Nozzle Registe
Register Slim Nozzle
1 Double-click the [Parameter Explorer] icon on the desktop or taskbar.
The [Parameter Explorer] window appears.
Tips: If you changed parameter in [Parameter Explorer], please close VPSS 3i
WELD.
2 Open the [Machine] tab.
3 In the Machine Name tree view, click the processing machine that you want to
reference or edit.

4 Click [Nozzle Register].

5 Click [Import].
6 Select the SAT file of the nozzle you want to register in the CAD Data / Slim_Nozzle
folder in the folder where VPSS 3i WELD is installed (C: / Program Files / AMADA3i /
FLW_CAM2 by default) in the import dialog, and click [Open].
The Nozzle adds to the nozzle list.
7 Click [Save].
8 Click [Application Menu].
9 Click [Exit Application].

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 Section 1 - Creating WELD data

Basic Operation of VPSS 3i WELD

Start WELD
1 Double-click the [WELD CAM] icon on the desktop or taskbar.
2 VPSS 3i WELD window appears.
3 Click [Open] on Home tab.

The [Open] dialogue box appears.

4 Select “A-4” saved in [Production Designer] and click [Open].
A 3D CAD model displays into graphic area.

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Chapter 2 - Basic Operations

Set Weld Condition

5 Click [WeldCondition] on Weld Edge tab.

6 Select “Weld Edge 1” in the Weld Entities list of Weld Condition command.
“Weld Edge 1” highlights in graphic area.

7 Confirm that Setback type is [Butt], and the torch corn is perpendicular to the plane of
welding.

Tips: If cone is not in the intended direction, you need to change the reference face
and cone angle.
You can change it in the following items in [SetBack].

Switch reference plane : Switches reference plane by 90 degree.

Difine weld reference faces : A new reference faces are defined by
selecting two planes..
Lateral Angle : You can change the lateral angle of the weld entity.
Process Angle : You can change the process angle of the weld entity.

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 Section 1 - Creating WELD data

8 Select [Weaving Normal (E9)] in the list of Weld Condition, and click [Apply].

9 Click [Next] and select “Weld2”.

10 Select [Weaving Normal (E9)] in the list of Weld Condition, and click [Apply].

11 Click [OK] and close Weld Condition Command.

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Chapter 2 - Basic Operations

Creat Setup
12 Click Setup tab, select [Add With Welds] in [Add] menu.

13 To change Product direction, click [Z-axis rotation].

Rotate the product so that it faces the orientation shown in the following figure.

14 Click [OK] and close Add Command.

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 Section 1 - Creating WELD data

Edit Weld Dircretion / Weld Order

15 Click [Selct] on Setup tab.

16 Selct “Weld Edge 1” in the list, and click [Move down the sequence].

“Weld1” moves down in the weld order.

17 Select “Weld Edge 1”, and click [Flip the direction].

The direction of “Weld edge 1” flips.

18 Click [OK] and close Select Command.

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Chapter 2 - Basic Operations

Edit Layout
19 Click [Layout] on Setup tab.

20 Input “4” in [Z] of [Part Position] and click graphic area.

Product moves to the specified location.
21 Click [Insert Jig] on Setup tab.

22 Select “Pick Part-04” registered in "Jig Register", and click Add jig button.

“Part-04” displays into graphic area.

23 Click [Hole Attach] of Attach.

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 Section 1 - Creating WELD data

24 Select the edge of Jig model for the movable entity as figure below.

Click the circle edge.

25 Select the edge of table for static entity as fiqure below.

Click the circle edge.

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Chapter 2 - Basic Operations

26 Confirm that Jig moves to the specified table edge.

27 Click [Add Constraint].

28 Click [Insert Jig] on Setup tab.

29 Select “Part-04” and click Add jig button again.

“Part-04” displays into graphic area.

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 Section 1 - Creating WELD data

30 Confirm the [Hole Attach] of Attach is ON.

31 Select the edge of Jig model inserted second for the movable entity as figure below.

Click the circle edge.

32 Click Rotate button indicated by the blue arrow.

Rotate the jig 90 degrees so that it is oriented as shown in the figure below.

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Chapter 2 - Basic Operations

33 Select the edge of table for static entity as fiqure below.

Click the circle edge.

34 Confirm that Jig moves to the specified table edge.

35 Click [Add Constraint].

36 Click [Face Attach] of Attach.

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 Section 1 - Creating WELD data

37 Select the face of Product for the movable entity as figure below.

Click the face.

38 Select the face of Jig model inserted second for static entity as fiqure below.

Click the face.

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Chapter 2 - Basic Operations

39 Confirm that Product moves to the specified face of the Jig.

40 Click [Add Constraint].

41 Select the face of Product for the movable entity as figure below.

Click the face.

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 Section 1 - Creating WELD data

42 Select the face of Jig model inserted first for static entity as figure below.

Click the face.

43 Confirm that Product moves to the specified face of Jig.

44 Click [Add Constraint].

45 If no product is selected in the viewer, click on the product to select it.
46 Input “0” in [Z] of [Part Position] and click graphic area.
Product moves to the specified location.
47 Click [OK] and close Layout command.

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Chapter 2 - Basic Operations

Edit Head Setup

48 Click [Head Setup] on Setup tab.

49 Enable [Side Nozzle].

Side Nozzle displays in graphic area.

50 Click [OK] and close Head Setup command.

Edit Table Setup

51 Click [Table Setup] on Setup tab.

52 Select “Weld Edge 2” in the Weld Edges list.

53 When robot is FANUC, Input “90” to [E2] axis as the figure below.
When robot is YASKAWA, Input “-90” to [E2] axis as the figure below.
FANUC:

YASKAWA:

54 Click [Copy].

55 Select “Weld Edge 1” in the Weld Edges list.

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 Section 1 - Creating WELD data

56 Click [Paste].

57 Click [OK] and close Table Setup Command.

Confirm Head Edit

58 Click [Head Edit] on Robot Path tab.

59 Click [Next] to send Robot Path to the end and confirm that there is no problem.

60 Click [OK] and close Head Edit Command.

Edit Approach / Relief

61 Click [Approach Relief] on Robot Path tab.

62 Select “2. Approach Point” in Robot Path list.

63 Input “5.9” in [A] of [Edit] and click graphic area.
The Approach Point moves to the specify location.
64 Select “9.Relief Point” in the Robot Path list.
65 Input “5.9” in [R] of [Edit] and click graphic area.
The Relief Point moves to the specify location.
66 Click [OK] and close Approach Relief Command.

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Chapter 2 - Basic Operations

Play Simulation
67 Click [Play] on Setup tab.

68 If [Check Collision] disable, click [Check Collision] to enable.

The [Play] button turns green when Simulation plays and process completed.

Tips: If the slider of [Settings] positions on the left end, VPSS 3i WELD provides the
collision check at high accuracy.

If the slider of [Settings] moves to the right, the accuracy to the collision check
is lowerd.

69 Click [OK] and close Play Command.

Edit AMNC Display Information

After simulation procedure finished, edit AMNC display information as needed.
70 Click [Edit] on Home tab.

71 Select “Setup 01” in the Product Information list.

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 Section 1 - Creating WELD data

72 Click [Capture] to capture the image of the setup displayed in the viewer.

73 Click [Generate CAM image] to generate CAM image for Teaching Assistant System.

Tips: You can check Memo and images edited with the Edit Command by displaying
on AMNC.
When the TAS image capture starts, the capture status dialog appears. When the
capture is completed, [OK] button will be enabled.
74 Click [OK].
75 Click [OK] and close Edit Command.

Save Data and Exit Application

76 Click [Save] on Home tab.

77 Click [Application Menu].

78 Click [Exit Application].

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 Section 2 - Creating data using Automatic Features

Section 2 Creating data using Automatic

features

This section explains the workflow for calculating the robot posture and the robot path by
using Automatic Features. In this explanation, it is used the data that has already completed
the setting of the weld edges and the layout of the product, considering the welding order,
welding direction, welding conditions, and placement orientation.

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Chapter 2 - Basic Operations

Create Machine
Create a machine of default parameter for use in tutorial.
*The actual machine parameters are not reflected in the machine created using the
default parameters. Therefore, never use it for data for actual machine processing.

1 Double-click the [PX] icon on the desktop or taskbar.

2 Click [New] on Machine tab.

Add dialog box for the new machine appears.

3 Select [Weldling] in the Machine Category and select “FLW+M3T” in the Machines
List.

4 If robot is FANUC, enter "FLW-M3TF-UG2", if robot is YASKAWA, enter “FLW-M3TY-

UG2", and then click [OK].
5 Select robot in "FANUC M710IC-50" or "YASKAWA MC2000" according to machine to
use, and then click [OK].

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 Section 2 - Creating data using Automatic Features

Change the nozzle settings for the tutorial.

6 Click the icon to the left of "FLW-M3TF-UG2" or "FLW-M3TY-UG2" used in the
exercise to open the tree.

7 Select [Condition 2].

8 Change Main nozzle to [Use].

If the robot is Yaskawa, it is necessary to reflect the parameters for the tutorial.
9 Click “FLW-M3TY-UG2”.

10 Click [Load].
11 When the "Reflect backup data" message is displayed, click [Yes].
12 The folder selection screen will be displayed. Select the actual machine parameter
folder for tutorial ("C:/Program Files/AMADA3i/FLW_CAM2/CAD
Data/BackupParameter/YM3T_AIF" by default) and click [OK].
13 Click [OK] in the message box.

Exit PX. This operation is also necessary when the robot is FANUC.
14 Click [Save].

15 Click [Application Menu].

16 Click [Exit Application].

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Chapter 2 - Basic Operations

Set Machine

1 Double-click the [WELD CAM] icon on the desktop or taskbar.

2 VPSS 3i WELD window appears.
3 Click [Application Menu].
4 Click [Option].

The [Option Settings] dialogue box appears.

5 Select [Machine Setup] in [Application Setting].
6 Select “FLW-M3TF-UG2” or “FLW-M3TY-UG2” that you created for the tutorial.
FANUC:

YASKAWA:

7 Click [Select Machine].

8 Click [OK] in Message.
9 Click [Apply].
10 Click [OK].
11 Click [Application Menu].
12 Click [Exit Application].

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 Section 2 - Creating data using Automatic Features

Import vSDD data

This example uses “WELD-COVER” in the WELD sample folder.

1 Double-click the [DX] icon on the desktop or taskbar.

2 Click [Application Menu].
3 Click [Import].

4 Select [VPSS 3i export format].

5 If robot is YASKAWA, select “WELD-COVER-YASKAWA.ASSY”, if robot is FANUC,
select “WELD-COVER-FANUC.ASSY”, and click [Open].
These data are in the WELD sample folder (/Program
Files/AMADA3i/FLW_CAM2/CAD Data/SampleData).
6 Select import destination folder, and then click [OK].
vSDD is imported to the folder you selected.

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Chapter 2 - Basic Operations

Basic Operations for Auto Table Sequence

Start WELD
7 Select the imported WELD-COVER in the Data Explorer (DX).
8 Right mouse click to display a pop-up menu.
9 Click [Open with a VPSS 3i WELD] in the pop-up menu.
10 The VPSS 3i WELD window appears, and the message of "The machine-FLW-M3TY-
UG- used by Saved data is different from Current Machine-FLW-M3TY-UG2. If the
data is saved in current session, the machine information will be updated with current
machine” is displayed.
11 Click [OK].
A 3D CAD model displays into graphic area.

Tips: "WELD-COVER" (vSDD data) is the data for which the setup has been created
in WELD.

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 Section 2 - Creating data using Automatic Features

Confirm Head Edit

12 Select “Setup 01” in the Weld Program.
Robot and pre-placed product and the jig appear.

13 Click [Head Setup] on Setup tab.

14 If [Main Nozzle] checkbox is unchecked, click it and enable it.

Confirm that the viewer nozzle is now a main nozzle.
15 Click [OK] to close Head Setup command.
Tips: If the message "Side Nozzle is no more selected. Do you want update the
robot path as well?" Is displayed, click [Yes].
16 Click [Head Edit] on the Robot Path tab.

17 Click [Next] to send Robot Path.

You can confirm that the robot path includes paths that cannot reach the target
position.

18 Click [OK] and close Head Edit Command.

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Chapter 2 - Basic Operations

Eexecute Auto Table Sequence

19 Click [Auto Table Sequence] on Setup tab.

20 Select the checkboxes “Weld Edge 1” (1. Weld Edge 501) and “Weld Edge 13” (13.
Weld Edge 513) in Weld Entitiess list.
“Weld Edge 1” and “Weld Edge 13” are included in the calculation.
21 Make sure that [Check Collision] enabled in Computation.

Tips: Check for collision with automatic attitude calculation and step simulation. If
collision confirm during automatic attitude calculation, try to avoid collision
based on the parameters of the PX CAM condition (5. Collision Avoidance).
22 Make sure that [Teaching Assistatnt System easy alligment] is enabked in
Computation.

Tips: Adjust the tool Z rotation axis so that the crosshairs of the camera and the
welding direction match. Only available if the default tool Z rotation option for
Head Setup is "Front".
23 Click [Keep Robot Position Optimization (KRP)] in Head Table Setting.

Tips: In the automatic position calculation of the table and runcart, it is necessary to
select one of the following posture priority settings and execute.
Vertical Robot Head Optimization :
Calculate result that keeps robot head tool as perpendicular as possible.
Horizontal Table Optimization :
Calculate result that rotate table does not turn inclination as much as possible.
Keep Robot Position Optimization (KRP) :
Calculate result that keeps robot position as much as possible.

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 Section 2 - Creating data using Automatic Features

24 Click [Runcart axis] in Axis Configuretion.

Tips: In Axis Configuretion, you can change enable / disable of the rotate table and
the runcart.
E1 Axis : If enabled, allow changing E1 axis.
E2 Axis : If enabled, allow changing E2 axis.
Runcart : If enabled, allow changing Runcart.
However, [E1 Axis] and [E2 Axis] are available only when Head Table Setting
is set to [Horizontal Table Optimization].
25 Uncheck [Enable/Disable Nozzle Offset Factor] checkbox in Maximum value of Nozzle
Offset.

26 Click [Start Auto Configuretion] to start auto calculation.

After PreCheck Collision Solving Automatic Feature dialogue apprars, the message of
temporary evaluation result appears.
27 Click [No].
Message under “Solution not found" appears.
28 Click [OK].
Tips: Message of the temporary evaluation result appears when there are any NG in
the preliminary check collision. Clicking [Yes] executes the calculation except
for weld edges of NG. If you click [No], the calculation is not be executed.
29 Select the [Enable/Disable Nozzle Offset Factor] checkbox in Maximum value of
Nozzle Offset and enter “0.59”.

Tips: When set Maximum value of Nozzle Offset settings, collision avoids by nozzle
offset with the maximum value as the upper limit.

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30 Enable the checkboxes for all weld edges by clicking [Select all] in Weld Entities list.

All weld edges are included in the calculation.

31 Click [Start Auto Configuretion] again to start Auto calculation.

During the calculation, the calculation progress displays on dialog box. When the
calculation is completed, message of "A complete solution was found" appears.
Tips: It may take some time until message "A complete solution was found" appears.
Do not perform any other command operations until appear of message.
32 Click [OK].
33 Click [OK] and close Auto Table Sequence Command.

Confirm Simulation
34 Click [Play] on Setup tab.

35 If [Check Collision] disable, click [Check Collision] to enable.

The [Play] button turns green when Simulation plays and process completed.

36 Click [OK] and close Play Command.

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Basic Operations for Auto Path Generator

Edit Table Angle
In this section, confirm feature of Auto Path Generator after editing to a robot path where
the simulation does not complete.

37 Click [Table Setup] on Setup tab.

38 Select “1. Weld Edge 501” in Weld Edges list.

39 Set Default Tool Z Rotation. If it is already the same as the figure below, change is not
required.
If robot is FANUC, click [Weld Direction].
If robot is YASKAWA, click [Direction Front].
FANUC:

YASKAWA:

40 If there are any values different from shown below, change the position value as
shown in the figure below.
If robot is FANUC, value is “-20” for E1, “50” for E2, and “31.50” for B1.
If robot is FANUC, value is “-20” for E1, “50” for E2, and “0” for B1.
FANUC:

YASKAWA:

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41 Select “2. Weld Edge 502” in Weld Edges list.

42 Set Default Tool Z Rotation. If it is already the same as the figure below, change is not
required.
If robot is FANUC, click [Reverse].
If robot is YASKAWA, click [Direction Front].
FANUC:

YASKAWA:

43 If there are any values different from shown below, change the position value as
shown in the figure below.
If robot is FANUC, value is “-25” for E1, “45” for E2, and “0” for B1.
If robot is YASKAWA, value is “-20” for E1, “-82” for E2, and “0” for B1.
FANUC:

YASKAWA:

44 Click [OK] and close Table Setup Command.

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 Section 2 - Creating data using Automatic Features

Confirm Head Edit

45 Click [Head Edit] on the Robot Path tab.

46 Enable [Step Simulation].

47 Select “5. Relief Point” in the Robot Path list.

48 Click [Next] to confirm that the warning appears in the message field.

Message of warning depends on robot.

FANUC: "The specified position is out of the robot movement range. (Group:1
Axis:J6). Please change the position or attitude of the robot path.”
YASKAW: "The specified position is out of the robot movement range.
Please check the welding conditions and welding allocation."
49 Click [OK] and close Head Edit Command.

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Execute Auto Path Generator

50 Click [Auto Path Generator] on Robot Path tab.

51 Select the checkboxes for [Auto approach-relief omit] and [Compute only not feasible
paths] in Computation Options.
Tips: If you enable [Compute only not feasible paths], only path with error icon
displayed during simulation is calculated as Included. If disabled, all path
calculate to Included.
52 Click [Start Auto Configuretion] to start Robot Path calculation.

During the calculation, the calculation progress displays on dialog box. When the
calculation is completed, message of "A complete solution was found" appears.
53 Click [OK].
54 Click [OK] and close Auto Path Generator Command.

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Reconfirm Head Edit

55 Click [Head Edit] on the Robot Path tab.

56 Enable [Step Simulation].

57 Select “5. Relief Point” in the Robot Path list.

58 Click [Next] to send to the next approach point.

By inserting the midpoint, the message does not display in the message field when
moving from the relief point to the approach point.
59 Click [OK] and close Head Edit Command.

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Exit Application
Since you could confirm feature of Auto Path Generator, playing simulation is skipped and
proceed to the exit procedure.

60 Click [Application Menu].

61 Click [Close].
The message "... Do you want to close this work anyway?" is displayed.
62 Click [Yes].
The message "Do you want to save changes?" is displayed.
63 Click [No].
Tips: Since the actual machine parameters are not reflected in the data created by
training and cannot be processed by the actual machine, they are not saved.
64 Click [Application Menu].
65 Click [Option].

The [Option Settings] dialogue box appears.

66 Select [Machine Setup] in [Application Setting].
67 Select the robot that is "actually used in welding".
Tips: Since the actual machine parameters are not reflected in the machine data
used in the training, it is very dangerous to mistakenly use it to create
machining data for the actual machine. At the end of the training, be sure to
return the settings to the machine that reflected the actual machine
parameters.
68 Click [Select Machine].
69 Click [OK] in message.
70 Click [Apply].
71 Click [OK].
72 Click [Application Menu].
73 Click [Exit Application].
74 Click [Application Menu] in Data Explorer (DX).
75 Click [Exit Application].

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 Section 3 - Creating Batch setup data

Section 3 Creating Batch setup data

This section explains the workflow for creating a setup and then creating batch setup data
for welding multiple products at once. In this explanation, it is used data for which the weld
edges have already been set.

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Set Machine

1 Double-click the [WELD CAM] icon on the desktop or taskbar.

2 VPSS 3i WELD window appears.
3 Click [Application Menu].
4 Click [Option].

The [Option Settings] dialogue box appears.

5 Select [Machine Setup] in [Application Setting].
Tips: If you have not created Machine data for tutorial, create Machine data
according to the Create Machine in Section 2-2.
6 Select “FLW-M3TF-UG2” or “FLW-M3TY-UG2” that you created for the tutorial.
FANUC:

YASKAWA:

7 Click [Select Machine].

8 Click [OK] in Message.
9 Click [Apply].
10 Click [OK].
11 Click [Application Menu].
12 Click [Exit Application].

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 Section 3 - Creating Batch setup data

Jig Register
In this example, the jig is used, so the jig is registered in the training machine.

1 Double-click the [Parameter Explorer] icon on the desktop or taskbar.

The [Parameter Explorer] window appears.
Tips: If you changed parameter in [Parameter Explorer], please close VPSS 3i
WELD.
2 Open the [Machine] tab.
3 Click the icon to the left of the "FLW-M3TF-UG2" or "FLW-M3TY-UG2" used for
training.

4 Select [Jig Register].

5 Click [Import].
6 In the Import dialog, select WELDCAM jig folder (/ Program
Files/AMADA3i/FLW_CAM2/ CAD Data/Jig) and select Jig file
(MgSTD_30x35x32.sat). Then, click [Open].
The jig is added to the list.
7 Click [Save].

8 Click [Application Menu].

9 Click [Application Exit].

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Import vSDD data

This example uses “WELD-CAR-V2” in the WELD sample folder.

1 Double-click the [DX] icon on the desktop or taskbar.

2 Click [Application Menu].
3 Click [Import].

4 Select [VPSS 3i export format].

5 If robot is YASKAWA, select “WELD-CAR-YASKAWA.ASSY”, if robot is FANUC,
select “WELD-CAR-FANUC.ASSY”, and click [Open].
These data are in the WELD sample folder (/Program
Files/AMADA3i/FLW_CAM2/CAD Data/SampleData).
6 Select import destination folder, and then click [OK].
vSDD is Imported to the folder you selected.

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Create Base Setup

Start WELD
Launch WELD from Data Explorer.

7 Select the imported WELD-CAR-V2 in the Data Explorer (DX).

8 Right mouse click to display a pop-up menu.
9 Click [Open with a VPSS 3i WELD] in the pop-up menu.
10 The VPSS 3i WELD window appears, and a 3D CAD model displays into graphic
area.

Tips: “WELD-CAR-V2” (vSDD data) is the data for which the weld edges have been
set in Production Designer.

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Creating base setup for grid pattern

Batch setup is a setup for processing multiple products at once. You can create batch setup
by duplicating a product from a setup created with one product.
This example shows the steps to create a batch setup of grid pattern and a batch setup of
radial arrangement of BHC pattern.
First, create a base setup to create a batch setup of grid pattern.

11 Click [Select] on Weld Edge tab.

12 Select “Weld Edge 2” in Weld Entities list.

13 Hold down the Shift key and select “Weld Edge 5” in the weld Entities list.
Multiple weld edges (2 to 5) are selected.

Tips: Multiple selections can also be made by holding down the Ctrl key and
selecting weld edges one by one.

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14 Click [group].

A group of weld edges 2 to 5 is generated.

Tips: By generating a group, it can be welded as one continuous weld edge.

15 Click [OK] to close Select Command.
16 Click [Weld Condition] on Weld Edge tab.

17 Select “Weld Edge 1” in Weld Entities list.

18 Make sure that SetBack has [Lateral Angle] of “70” and [Process Angle] of “15”.

19 Confirm that [Normal (E4)] is selected for the Weld Condition.

20 Click [Apply] to apply the weld condition to “Weld Edge 1”.

21 Click [Copy].

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22 Click [Inverte Selection] to select egeds other than "Weld Edge 1".

23 Click [Paste].

The same weld condition as for "Weld Edge 1" apply from "Weld Edge 2" to "Weld
Edge 6".

24 Click [OK] and close Weld Condition Command.

25 Click the down arrow of [Add] on Setup tab to expand the menu.
26 Click [Add With Welds].

27 Enter “-90” in [Rotate Angle] of Part Orientation.

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28 Click [Z-axis rotation] to rotate product.

The product rotates around the Z axis at the specified angle.

29 Click [OK] to close Add Command.

30 Click [Layout] on Setup tab.

31 Click [Insert Jig] on Setup tab.

32 Select “MgSTD_30x35x32” registered in "Jig Register" and click the Add Jig button.

“MgSTD_30x35x32” is displayed in the viewer.

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33 Click [Face Attach] of Attach.

34 Click the bottom of the jig as a movable entity.

35 Click the top of the table as a static entity.

36 Confirm that the movable entity has moved as shown in the figure below and the pop-
up menu is displayed.

37 Click [Add Constraint] on the pop-up menu.

38 Click the side of the jig as the movable entity.

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39 Click the side of the product as a static entity.

40 Confirm that the movable entity has moved as shown in the figure below and the pop-
up menu is displayed.

41 Click [Add Constraint] on the pop-up menu.

42 Click the side of the jig as a movable entity.

43 Click the side of the product as a static entity.

44 Confirm that the movable entity has moved as shown in the figure below and the pop-
up menu is displayed.
45 Enter “0.79” in [Offset Distance] on the pop-up menu.
46 Enable [Flip Dimension] checkbox in the pop-up menu.

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47 Confirm that the movable entity has moved as shown in the figure below.

48 Click [Add Constraint] on the pop-up menu.

49 Click [Insert Jig] on Setup tab.

50 Select “MgSTD_30x35x32” registered in "Jig Register" and click the Add Jig button.

51 The second “MgSTD_30x35x32” is displayed in the viewer.

52 Click the bottom of the second jig as a movable entity.

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 Section 3 - Creating Batch setup data

53 Click the top of the table as a static entity.

54 Confirm that the movable entity has moved as shown in the figure below and the pop-
up menu is displayed.

55 Click [Add Constraint] on the pop-up menu.

56 Click the second jig in the viewer.
57 Click [Rotate in the CW direction around the Z axis] twice of Part Orientation.

The jig rotates 180 degrees as shown in the figure below.

58 SRight-click in the viewer to display a pop-up menu.

59 Click [Cancel] in the pop-up menu to cancel face selection of the jig.

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60 Click the side of the second jig as a movable entity.

61 Click the side of the product as a static entity.

62 Confirm that the movable entity has moved as shown in the figure below and the pop-
up menu is displayed.

63 Click [Add Constraint] on the pop-up menu.

64 Click the side of the second jig as a movable entity.

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65 Click the side of the product as a static entity.

66 Confirm that the movable entity has moved as shown in the figure below and the pop-
up menu is displayed.
67 Enter “0.79” in [Offset Distance] on the pop-up menu.
68 Confirm that [Flip Dimension] is checked in the pop-up menu.
69 Confirm that the movable entity has moved as shown in the figure below.

70 Click [Add Constraint] on the pop-up menu.

71 Click [OK] to close Layout command.
72 Click [Head Setup] on Setup tab.

73 If [Main Nozzle] checkbox is unchecked, click it and enable it.

Confirm that the viewer nozzle is now a main nozzle.
74 Click [OK] to close Head Setup command.
Tips: If the message "Side Nozzle is no more selected. Do you want update the
robot path as well?" Is displayed, click [Yes].
75 Click [Table Setup] on Setup tab.

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76 Confirm that the robot can reach the target position because ”Weld Edge 1" is
selected in the Weld Edges list and no message is displayed in the message field.
Tips: If the robot cannot reach the target position outside the movable range or
exceeds the limit range of the B axis, a message will be displayed in the
message field, and only the head will move to the warning point.
77 Click “Weld Edges 2” in Weld Edges list.
78 Confirm that the robot can reach the target position because ”Weld Edge 2" is
selected in the Weld Edges list and no message is displayed in the message field.
79 Click Weld Edges 3 in Weld Edges listi.
80 Confirm that the robot can reach the target position because ”Weld Edge 3" is
selected in the Weld Edges list and no message is displayed in the message field.
81 Click [OK] and close Table Setup Command.
82 Click [Play] on Setup tab.

83 If [Check Collision] disable, click [Check Collision] to enable.

The [Play] button turns green when Simulation plays and process completed.

84 Click [OK] tand close Play Command.

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 Section 3 - Creating Batch setup data

Create Batch Setup (Grid Pattern)

Creating Batch Setup
Create a batch setup of grid pattern based on the created base setup. Use the grid pattern
when you want to place as many products as possible. This section explains the
procedure for creating a 3x3 batch setup, editing the bounding box, re-editing the batch
setup, and editing the weld order.

85 Confirm that “Setup 01” is selected in the Weld Program.

86 Click [Batch Setup] on Setup tab.

Tips: The [Batch Setup] button is not enable unless simulation completed normally
and the [Play] button of setup turns green. You can also create by clicking right
on setup in Weld Program and clicking [Create Batch Setup].

In addition, [Batch Setup] has the following settings items.

Pattern Selection:
You can select the alignment pattern from Grid X, Y, Arc, BHC, and Batch
Setup Copy. However, Batch Setup Copy is only diplays if you have already
created a Batch Setup.
Parameters:
Set parameters according to select pattern.
Vertical Stack:
You can edit the pitch and number of products along the Z axis.
Symmetry:
If you select radial, you can position the products in a radial pattern. In the Arc
and BHC patterns, when the positioner is used in the setup, the angle of E2 is
automatically calculated so that the robot can weld the second and subsequent
products at the same position as the first product.
Jig Import Mode:
Select the mode for importing the jig.
Products:
You can edit the placement information of the product selected on the list. Lock
Inside Product” unchecks when the setup information in one product is
changed by changing the welding order, grouping, and setting the flying shot.
These operations are canceled byenabling.
Product Position:
You can edit the position of the selected product.
Product Orientation:
By rotating, you can edit the orientation of the selected product.
Batch Position:
You can edit the position of the entire batch setup product.
Batch Orientation:
You can edit the orientation of the entire batch setup product.

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87 Confirm that "Grid X, Y" is selected in the pattern selection.

88 Click [NX] icon on Parameter.
The direction of the icon arrow changes.

Tips: By clicking the NX, NY icon, the direction in which the number of products
increases or decreases when the number of products (values of NX, NY) is
changed will be changed.
89 Enter “3” in [NX] of Parameter.

90 Click [NY] icon on Parameter.

The direction of the icon arrow changes.

91 Enter “3” in [NY] of Parameter.

92 Select [All products] in combo box of JIG Import Mode.

A base setup jig is added to all products.

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93 In the viewer, confirm that the GX length arrows both refer to the side of the product.

GX

94 Click [OK] and close Batch Setup Command.

Batch Setups 02 is added to the Weld Program.

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Editing Bounding Box

IFor batch setup of grid pattern, the user can edit the gaps (GX, GY) between products. If
the user wants to change the reference point of the gap to a different point of the product
or the jig, the user can change it by editing the bounding box.
This section explains the procedure for extending the bounding box from the default
bounding box that covers the product to the side of the jig.

95 Confirm that “Batch Setup 02” is selected in the Weld Program.

96 Click [Edit Bounding Box] on Setup tab.

Tips: If the user wants to edit the default bounding, the use uses Edit Bounding Box.
Editing the bounding box updates the reference product and gaps for the batch
setup, and layout reference points .
97 Click [BY+] in Bounding Box Faces Selection.

Tips: In Bounding Box Faces Selection, the user selects one or more faces of the
bounding box to move. Te user cannot select two directions on the same axis.
(Ex. BX+ and BX- cannot be selected at the same time.)
98 Click [Allow Jigs] in Bounding Box Settings.

Tips: If enabled, allows selection of jigs in Bounding Box Actions.

99 Click [Vertex Pick] in Selected Faces Actions.

Tips: The Selected Faces Actions allows the user to select the edit mode of the face
selected in Bounding Box Faces Selection.

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101 In the viewer, click the point in the figure below on the jig paired with the central
product to move the “BY+” face.

102 Click [BY-] in Bounding Box Faces Selection.

103 Click [Vertex Pick] in Selected Faces Actions.

104 In the viewer, click the point in the figure below on the jig paired with the central
product to move the “BY-“ face.

105 Click [OK] and close Edit Bounding Box Command.

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Reediting Batch Setup

This section explains the procedure for changing the gap and the welding order of each
product by re-editing the batch setup.

106 Confirm that “Batch Setup 02” is selected in the Weld Program.
107 Click [Batch Setup] on Setup tab.

108 By editing the bounding box, confirm that the reference position of the arrow indicating
the length of the GX has been changed from the product to the jig in the viewer.

GX
Before editing trhe bounding box

GX
After editing the bounding box

109 Enter “1.97” in [GX] of Parameter.

110 Enter “3.15” in [GY] of Parameter.

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111 Select “4.WELD-CAR-V2 <3>” in Product list.

Tips: The user can also select a product by clicking on the product in the viewer. The
selected product is displayed in red in the viewer.
112 Click [Move up sequence] three times to set order to “1”.

The product sequence is updated as shown in the figure below.

Tips: The numbers on the left of the product list indicate the welding order for each
product. By changing the order, the welding order number is also changed at
the same time.
113 Select “4.WELD-CAR-V2 <2>” in Product list.
114 Click [Move up sequence] twice to set order to “2”.

The product sequence is updated as shown in the figure below.

115 Select “6.WELD-CAR-V2 <5>” in Product list.

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116 Click [Move up sequence] three times to set order to “3”.

The product sequence is updated as shown in the figure below.

117 Select “5.WELD-CAR-V2 <1>” in Product list.

118 Click [Move up sequence] once to set order to “4”.

The product sequence is updated as shown in the figure below.

119 Select “9.WELD-CAR-V2 <8>” in Product list.

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120 Click [Move up sequence] twice to set order to “7”.

The product sequence is updated as shown in the figure below.

121 Select “9.WELD-CAR-V2 <7>” in Product list.

122 Click [Move up sequence] once to set order to “8”.

The product sequence is updated as shown in the figure below.

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123 Confirmed the welding order is the same as the product list in the figure below.

3 2 1

6 5 4

9 8 7

Product list Sequence when viewed from Top

124 Click [OK] and close Batch Setup Command.

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Edit Order
The default welding order for batch setup is the order of welding for each product. This
section explains the procedure for editing the welding order so that the welding edges on
the same straight line are welded continuously.

125 Click [Order] on Setup tab.

Message of "Would you like to add all weld feature ?" is displayed.
126 Click [Yes].
127 Click [Machine] on the View tab to hide machine.
128 Click [Top] on the Viewer toolbar.

129 The view switches to the top.

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130 Click [Select all] to select all weld edges.

When select, weld edges in the list changes from light blue to blue.

Tips: Select All:

Select all weld features.
Rectangular selection:
All weld edges within the rectangular area drawn by dragging the mouse are
selected.
Part selection:
Select the weld feature for the clicked part. It is displayed only in batch setup.
Direction filter:
It allows the user to select, from the selected welds, only the welds that have
the same direction of a weld that will be selected by the user.
Line filter:
It allows the user to select, from the selected welds, only the welds that lies on
the same line of a weld that will be selected by the user.
131 Click [Direction filter].

Tips: When the Line filter or Direction filter is clicked, message "Pick reference weld
feature." displays in message field. When select the weld feature on viewer
while message displays, filter feature executes and message disappears.If you
click the wrong part, start over from multiple selections of weld edges using
[Select All], etc.

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133 Click “Weld Edge 1” on viewer.

Only weld edges of the same direction as “Weld Edge 1” that is selected are selected,
and weld edges of the different direction are canceled.
134 Click [Squeeze].

Tips: Move up : Move up the sequence of the selected weld entities.

Move down : Move down the sequence of the selected weld entities.
Turns Weld Di rectio n to Mo dify in W eld Dir ect
Flip : Flip the direction of the selected weld entities.
Remove : Remove the direction of the selected weld entities from the
sequence list.
Reverse order : Reverse the order of selected weld entities.
Squeeze : Squeeze the selected weld feature close each other.

135 "Locking inside product is active. Manual order will disable it. Would you like to
proceed?" message appears.
136 Click [Yes].
The welding order is the order in which the welding edges in the same direction as the
"Weld Edge 1" are continuous.
137 Select “Weld Edge 2 (2. Weld Edge 541)” in Weld Entities list.
138 Click [Move up].

“2. Weld Edges 541” changes to “1. Weld Edges 541”.

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139 Click [Select all] to select all weld edges.

140 Click [Line filter].

141 Click “Weld Edge 1” on Viewer.

"Weld Edge 4" and "Weld Edge 6" that is in the same straight line as "Weld Edge 1"
are selected.

6 4 1

142 Click [Squeeze].

“4. Weld Edge 533” changes to “2. Weld Edge 533”, “6. Weld Edge 557” changes to
“3. Weld Edge 557”.
143 Select “Weld Edge 8 (8. Weld Edge 525)” in Weld Entities list.
144 Click [Move up].

“8. Weld Edge 525” changes to “7. Weld Edge 525”.

145 Click [Select All] to select all weld edges.

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 Section 3 - Creating Batch setup data

146 Click [Line filter].

147 Click Weld Edge 7 on Viewer.

"Weld Edge 10" and "Weld Edge 12" that is in the same straight line as "Weld Edge 7"
are selected.

12 10 7

148 Click [Squeeze].

“10. Weld Edge 517” chenges to “8. Weld Edge 517”, “12. Weld Edge 549” changes
“9. Weld Edge 549”.
149 Select Weld Edge 14 (14. Weld Edge 581) in Weld Edges list.
150 Click [Move up].

“14. Weld Edge 581” changes to “13. Weld Edge 581”.

151 Click [Select All] to select all weld edges.

152 Click [Line filter].

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153 Click “Weld Edge 13” on Viewer.

"Weld Edge 16" and "Weld Edge 18" that is in the same straight line as "Weld Edge
13" are selected.

18 16 13
154 Click [Squeeze].

“16. Weld Edge 573” chenges to “14. Weld Edge 573”, “18. Weld Edge 565”changes
to “15. Weld Edge 565”.
155 Confirm that the welding order is the same as the figure below.

156 Click [OK] and close Order Command.

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 Section 3 - Creating Batch setup data

Play Simulation (Batch Setup of grid pattern)

Play the simulation and confirm that the batch setup program of the grid pattern you
created completes successfully.

157 Click [Play] on Setup tab.

158 If [Check Collision] disable, click and click [Check Collision] to enable.

The [Play] button turns green when Simulation plays and process completed.

159 Click [OK] and close Play Command.

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Chapter 2 - Basic Operation

Edite Base Setup

Next, create a base setup for creating a batch setup of BHC pattern radial arrangements.
In the radial arrangement, the E2 axis of the positioner is rotated by the pitch angle, so that
the robot can welds in the same posture for the product with the base setup and the
second and subsequent duplicate products. It is easy to create a program and has the
advantage that the robot can take the same posture for all products.
For batch setup in a radial arrangement, the base setup must be located outside the
center. This section explains the procedure for moving the product position of the base
setup in order to create abatch setup in a radial arrangement.

160 Select “Setup 01” in the Weld Program.

161 Click [Layout] on Setup tab.

162 Click [Remove all constraints] on the attach to remove constraints.

163 Click [Genarat roups by default] on the Part Groups.

Group 1 is added to the Part Groups list.

Tips: When a group is genarated, the positional relationship between the objects
(products or jigs) in the group is fixed. If multiple constraints have been added,
groups is useful because the objects may not be able to move due to
excessive constraints.

The user can generate a groups clicking the following buttons:

Groups : Groups all selected objects.
Groups by default : Generate groups by default. Default groups create one
group with Jig and Product. When "All products" is set in Jig Import Mode of
batch setup, groups of product and jig are created for the number of product.
Groups by type : Generate groups by type. Type groups create a group by
type that summarizes all Jig and a group by type that summarizes all products.
164 Enter “19.09” in [X] of Part Position.
165 Enter “6.30” in [Y] of Part Position.

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166 Confirm that the product and jig have moved as shown in the figure below.

167 Click [OK] and close Layout Command.

168 Click [Play] on Setup tab.

169 If [Check Collision] disable, click and click [Check Collision] to enable.

The [Play] button turns green when Simulation plays and process completed.

170 Click [OK] and close Play Command.

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Create Batch Setup (Radial Arrangement)

Creating Batch Setup
This section explains the procedure for creating a batch setup of BHC pattern radial
arrangements from the edited base setup.

171 Confirm that the "Setup 01" is selected in the Weld Program.
172 Click [Batch Setup] button on Setup tab.
173 Select [BHC] in Pattern Selection combo box.
174 Enter “4” in [N] op Parameter.

175 Select [All products] in JIG Import Mode combo box.

176 Select [Radial] in the Symmetry combo box.
Product and jig placement updated to radial placement.

177 Click [OK] and close Batch Setup Command.

Tips: For batch setup in a radial arrangement, the angle of the E2 axis is
automatically calculated when the user clicks [OK]. The calculated E2 axis
angle takes into account the pitch angle between the products.
178 "Batch Setup 03" is added to the Weld Program.
Tips: The user can create multiple batch setups from the same base setup.
However, since it is not linked to the base setup after creating a batch setup,
even if the user edits the base setup, the created batch setup is not be affected
by the editing of base setup.

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 Section 3 - Creating Batch setup data

Play Simulation (Batch Setup of Radial Arrangement of BHC Pattern)

Play the simulation and confirm that the batch setup program of the radial arrangement of
the BHC pattern you created completes successfully.
179 Click [Play] on Setup tab.

180 If [Check Collision] disable, click and click [Check Collision] to enable.

During the simulation, confirm that the E2 axis angle of each product rotates 90
degrees.
The [Play] button turns green when Simulation plays and process completed.

181 Click [OK] and close Play Command.

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Application Exit
182 Click [Application Menu].
183 Click [Close].
The message "Do you want to save changes?" is displayed.
184 Click [No].
Tips: Since the actual machine parameters are not reflected in the data created by
training and cannot be processed by the actual machine, they are not saved.
185 Click [Application Menu].
186 Click [Option].

The [Option Settings] dialogue box appears.

187 Select [Machine Setup] in [Application Setting].
188 Select the robot that is "actually used in welding".
Tips: Since the actual machine parameters are not reflected in the machine data
used in the training, it is very dangerous to mistakenly use it to create
machining data for the actual machine. At the end of the training, be sure to
return the settings to the machine that reflected the actual machine
parameters.
189 Click [Select Machine].
190 Click [OK] in message.
191 Click [Apply].
192 Click [OK].
193 Click [Application Menu].
194 Click [Exit Application].
195 Click [Application Menu] in Data Explorer (DX).
196 Click [Exit Application].

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 Section 1 - Editing Weld edge

Section 1 Editing Weld edge

This section explains how to edit weld edge and weld condition.

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Chapter 3 - Edit

Add Weld Edge (WELD CAM)

Weld edges can be added not only with "Production Designer (PD)" but also with "WELD
CAM".
This example explains how to add weld edges in WELD CAM using "ASSEMBLY-04" in
the vSDD Sample folder.

1 Open “ASSEMBLY-04” from [Open] on Home tab.

2 Click [Select] on Weld Edge tab.

3 Confirm that Entity mode is [Weld Edges].

Tips: "Select" command requires you to select one of the following weld feature
mode:
Weld Edges : The weld edge can be selected or edit.
Weld Spots : The laser spot point can be selected or edit. If the FANUC
robot is set, this button is not displayed.
4 Confirm that Selection Mode is [Manual Mode].

Tips: "Select" command requires you to select one of the following weld feature
mode:
Computed Edges (Auto Mode) : It shows the common edges between parts
in the assembly computed by the system. The desired weld edges can be
selected from the edges displayed as cylinders in the viewer. This mode is the
default option.
Part Edges (Manual Mode) : It enables the user to select edge(s) from a
particular part.
PD Edges : Selection of weld edges from Production Designer.

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 Section 1 - Editing Weld edge

6 Click the edge of product on viewer.

The selected weld edge is added..

Tips: As for the direction of the weld edge (direction of the arrow), the starting point
is the point where the mouse on the selected edge is close, as in PD. The
figure above shows an example of clicking on the right side of an edge.
7 Then, click another edge on viewer.

A second weld edge is added.

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Tips: The added weld edge is also added to the weld edge list in the selection
command. The user can edit the weld edge with the following buttons.
Move up : Moves the welding order forward by one.
Move down : Moves the weld order back one.
Flip welding direction :Flip the direction of the selected weld feature.
Group : Group selected weld edges.
Ungroup : Ungroup the group.
Delete : Deletes the weld edge.
8 Click [OK] and close Select Command.

Close the data. If you want to proceed to the weld edge offset training, skip to the next page.
9 Click [Application Menu].
10 Click [Close].
The message "Do you want to save changes?" is displayed.
11 Click [No].
Tips: Since the actual machine parameters are not reflected in the data created by
training and cannot be processed by the actual machine, they are not saved.

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 Section 1 - Editing Weld edge

Offset Weld
Offset welds allow you to create new weld edges or move existing weld edges based on
existing weld edges.
This example uses "ASSEMBLY-04" in the vSDD Sample folder to illustrate weld edge
offset operations.
Please note that this example does not take into account the actual processing, as it
explains the behavior of the weld edge offset in an easy-to-understand manner.

First, prepare a weld edge to be offset.

1 Open “ASSEMBLY-04” from [Open] on Home tab.
2 Add two weld edges.
For information on how to add weld lines, please refer "Add Weld Edge (WELD CAM)"
in this section.

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Create an offset weld edge.

3 Click [Offset Weld] on Weld Edge tab.
4 Click the weld edge in the offset edge list or the weld edge on the viewer to select the
weld edge to be offset.

Tips: Only one weld edge can be selected at a time. Also, when the offset line list is
white (when the line direction list is selected), the weld edge cannot be
selected from the viewer. In this case, you need to click the offset edge list to
make it blue.
5 Click the Edge Direction list to enable.

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 Section 1 - Editing Weld edge

6 Click the edge of Product on viewer to select offset direction.

Offset direction is showm to viewer with a yellow arrow.

Tips: Invert direction : The user can invert the offset direction with the invert
direction button below the Edge Direction list.
7 Click [Copy].

8 Enter Offset dinstance in Distance.

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9 Click [Offset].
Tips: If copy is enabled, it creates a new weld edge based on the weld edge of
interest. If disabled, move the target weld edge.
10 A new offset weld edge is created.

Then move another weld edge to the offset destination..

11 Click the Offset Edge list to enable it.
The Edge Direction list changes from blue to white, and the Offset Edge list changes
from white to blue.
12 Select a weld edge different from the one you just targeted on the viewer.

Tips: When the Edge Direction list is blue (if enabled), the Offset Edge list is disabled
and the offset edge cannot be selected in the viewer.

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 Section 1 - Editing Weld edge

13 Click [Copy].

14 Enter Offset distance in Distance.

15 Click [Offset].
The target weld edge moves.

Next, move the offset weld edge in another offset direction.

16 Click Edge Direction list to enable.
17 Click the edge of the product on the viewer and select a new offset direction.

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The new offset direction is showm to viewer with a yellow arrow.

18 Click [Offset].
The target weld edge moves in the new offset direction.

19 Click [OK] and close Offset Weld Command.

20 Click [Application Menu].
21 Click [Close].
The message "Do you want to save changes?" is displayed.
22 Click [No].
Tips: Since the actual machine parameters are not reflected in the data created by
training and cannot be processed by the actual machine, they are not saved.

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 Section 1 - Editing Weld edge

Edite Cone Angle for Weld Condition

In Weld Condition command, it is necessary to properly set the cone angle, which is the
nozzle angle during welding.
In this example, "ASSEMBLY-04" in the Sample folder of vSDD is used to explain the
operation of editing the cone angle of welding conditions.

First, prepare a weld edge to be set weld condition

1 Open “ASSEMBLY-04” from [Open] on Home tab.
2 Add one weld edge.
For information on how to add weld lines, please refer "Add Weld Edge (WELD CAM)"
in this section.

3 Click [Weld Condition] on Weld Edges tab.

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Change Angle
If the appropriate reference plane is already selected and you want to change the angle,
change the lateral angle and process angle values.

4 Change the lateral angle and process angle of setback.

5 The cone at the angle you entered appears in the viewer as a green cone.
The angle is the angle with respect to the reference plane.

Tips: After changing the value, the cone will be displayed in green. The changes will
not be applied until you click Apply and the cone turns red.
6 Click [Apply].

The change in cone angle is applied and the green cone turns red.

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 Section 1 - Editing Weld edge

Difine reference faces

When a weld line is added by selecting [Select] in Production Designer or the weld edge
tab, the setback is automatically recognized by the weld condition. For example, in the
weld edge 1 where the angle was changed in the previous step, you can confirm that "Lap
Fillet" is recognized.

However, if the overlap of parts is not recognized correctly, the setback may not be
recognized, or the proper fitting may not be recognized. In this case, you need to change
the reference plane because you cannot change the angle to the intended angle just by
changing the values of the lateral angle and the process angle.
This section explains how to select the reference plane.

7 Click [Difine reference faces] on SetBack.

8 Right-click in the viewer to display the pop-up menu.

9 Click [View Weld Entity] in the pop-up menu to hide the weld edges.
Tips: Hiding weld edges is not a mandatory operation. It is used as appropriate when
it is difficult to select a surface due to the welded edge.
10 Select the first reference face.

11 Right-click in the viewer to display the pop-up menu.

12 Click [View Weld Entity] in the pop-up menu to show the weld edges.
13 Select the second reference face.

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The selection of the reference faces is completed. Since the reference face has
changed, the angle of the cone will change.

Tips: In the example, the setting method of the reference plane was shown, but in
the case like this time when the setback is recognized, it is usually not
necessary to set the reference plane.

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 Section 1 - Editing Weld edge

Change Reference Plane

Even if a reference plane is defined, it can be very different from the intended angle. In
that case, changing the reference plane is effective. Changing the reference plane
changes the reference plane by 90 degrees from the reference plane each time you click,
and the value of the process lateral angle is reflected from that reference plane.
You can change the reference plane by the following operations.

14 Click [Swithc reference plane] on SetBack.

[Switch reference plane] changes the reference plane by 90 degrees each time you
click it, and the angle of the green cone changes accordingly.

15 Click [Apply].

The change in cone angle is applied and the green cone turns red.
16 Click [OK] and close Weld Condition Command.
17 Click [Application Menu].
18 Click [Close].
The message "Do you want to save changes?" is displayed.
19 Click [No].
Tips: Since the actual machine parameters are not reflected in the data created by
training and cannot be processed by the actual machine, they are not saved.

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