[IlhamAuf]

Hello,
    I am currently starting work on the WAAM (Wire Arc Additive Manufacturing) process using a Motoman MH80 robot. In this project, the welding machine used is a conventional type, not a machine specifically designed for robotic arms. The welding machine will be slightly modified at the welding torch part where the cable connected to the push button on the welding torch will be connected to a relay on the robot’s microcontroller. This way, the on/off of the welding torch can be controlled by the microcontroller, while the welding parameters will be set manually. The program from RoboDK will only be used to control the robot’s movements and the on/off of the welding torch. Is this possible? If so, what do I need to set up in program event section?

Best regards,

Ilham
 
Ps: Sorry for long question. I am still new to using RoboDK

[Sergei]

Yes, it is possible. You can create programs with IO instructions and call these programs as subroutines using program events.

[IlhamAuf]

Do I have to manually set when the welding torch turns on and off? Is it possible to generate IO instructions automatically based on the 3D print settings, similar to how 3D printers can determine when the extruder turns on and off?

Best regards,

Ilham

[Sergei]

Yes, you can generate the appropriate I/O commands (to control the weld source) depending on the extruder value in the code generated by the CAM (slicing) program. In this case, postprocessor customization is required.

Please take a look at the related documentation topics:
https://robodk.com/doc/en/Robot-Machining.html#Print3D
https://robodk.com/doc/en/PythonAPI/postprocessor.html

[IlhamAuf]

Thank you for the advice. I will try it

[IlhamAM]

Do I have to manually set when the welding torch turns on and off? Is it possible to generate IO instructions automatically based on the 3D print settings, similar to how 3D printers can determine when the extruder turns on and off?

Best regards,

Ilham

Can you explain in more detail how I should modify the post-processor for this case? I am still quite new to this, so I am having trouble modifying the post-processor.

thank you

[Albert]

You can find some examples about how to modify post processors here:
https://robodk.com/doc/en/Post-Processor...SamplePost

[Borgis1]

Probably a lot of ways to skin a cat.
I have not changed the postprocessor in other regards than the workframe. I use the M codes from the slicer and use the programevents like this: M%1 that directly calls a program M%.
so a M100 will call program M100.JBI. That means within M100.JBI you will call IO.
Makes it easier on the slicer software side. I have different currents and methods on M101 102 103. Stop weld on M110 and Pause for X seconds on M100. Also Spotweld on 105. A bit different on your side. But you will need a start stop and pause function at least and that is easliy accomplished this way.