I'm working on with an IRB6700 robot with IRC5 controller used in a welding application. I'm programming a fixture that has 4 stations that all hold the same part. I have one station programmed and would like some input on the best way of "copying" that program for the other 4 stations. Each station is about 37" apart, but not exact. Ive thought to use the offset function, but i'm finding that I have to go through each position and enter the offset. That can get a little time consuming as theres 400ish steps in the program and would have to do that 3 times over. I'm wondering is it best to use the work object function? I can't seem to figure that out to work for this. Additionally I need to be able to modify the positions easily if need be due to fixture and part variation.
Any help on the matter would be greatly appreciated.
Also I'm new around here. I have been using the ABB s4 controller and older software for the last three years. I have since switched to a different company and have only been using the IRC5 for a few days now