[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