I am still very new to Abb robot programming. I am making a welding program similar to the one in the picture on my Fanuc robot. In this way, my program has been working for years, and many of my resource programs are working smoothly.(Program mm or CNT values or program steps were shortened.) Now I want to do the same work with my Abb robot. Cont:IRC5 Robot:IRB2600. How can I write a similar program at Abb, I am waiting for help from my masters.