I am newbie with kuka robots and krl programming. I am looking for some help from the experts with logic or a formula to perform Welding between two arc profiles as shown in the attached pic (sorry I don't have a cad drawing). The profiles are on a steel plate and no welding allowed outside the profiles. Welding need to start at one end of profile 1 and move along y-direction until profile 2. Then robot need to advance 2 mm in x-direction and repeat welding.
How to program the robot to advance both x, y directions after each weld bead and also finding the weld bead length in y-direction between two profiles.
Thanks in advance.